CN111376017B - Piston clamp spring feeding and assembling device - Google Patents
Piston clamp spring feeding and assembling device Download PDFInfo
- Publication number
- CN111376017B CN111376017B CN202010317487.1A CN202010317487A CN111376017B CN 111376017 B CN111376017 B CN 111376017B CN 202010317487 A CN202010317487 A CN 202010317487A CN 111376017 B CN111376017 B CN 111376017B
- Authority
- CN
- China
- Prior art keywords
- shaft
- clamp spring
- feeding
- positioning
- piston
- 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
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a piston clamp spring feeding and assembling device, which comprises a clamp spring feeding device and a clamp spring assembling device, wherein the clamp spring feeding device comprises: the clamping device is provided with a clamping jaw which can do spatial three-dimensional motion and can clamp the clamp spring; the vibration feeding device comprises a one-way vibrator and a feeding shaft fixedly connected with the one-way vibrator, wherein a clamp spring is sleeved on the feeding shaft, one end, away from the clamp spring, of the feeding shaft is a feeding end, and the one-way vibrator is used for conveying the clamp spring sleeved on the feeding shaft to the feeding end; the material distribution device comprises a first support, a magnetic part and a baffle plate, wherein the magnetic part is arranged on one side of the first support, the baffle plate is arranged on the other side of the first support, and the magnetic part and the baffle plate can move in the vertical direction; and the clamp spring assembling device sends the clamp spring clamped by the clamping jaw into a clamp spring groove in the piston pin hole to complete the assembly.
Description
Technical Field
The invention relates to the technical field of pistons, in particular to a piston clamp spring feeding and assembling device.
Background
The piston pin is a cylindrical pin arranged on the skirt part of the piston, the middle part of the piston pin penetrates through the small end hole of the connecting rod and is used for connecting the piston and the connecting rod, and the function of the piston pin is to transmit the gas acting force born by the piston to the connecting rod or enable the small end of the connecting rod to drive the piston to move together. In order to reduce weight, piston pins are generally made of high-quality alloy steel and are hollow; the piston snap spring is arranged in the piston pin hole and is used for preventing the piston pin from axially moving.
In the prior art, the clamp spring is generally separated and assembled into the piston manually, so that the efficiency is low and the precision is poor.
Disclosure of Invention
In order to solve the technical problem, the invention provides a piston clamp spring feeding and assembling device.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a piston jump ring material loading, assembly quality, includes jump ring material loading attachment and jump ring assembly quality, jump ring material loading attachment includes:
the clamping device is provided with a clamping jaw which can do spatial three-dimensional motion and can clamp the clamp spring;
the vibration feeding device comprises a one-way vibrator and a feeding shaft fixedly connected with the one-way vibrator, wherein a clamp spring is sleeved on the feeding shaft, one end, away from the clamp spring, of the feeding shaft is a feeding end, and the one-way vibrator is used for conveying the clamp spring sleeved on the feeding shaft to the feeding end;
the material distribution device comprises a first support, a magnetic part and a baffle plate, wherein the magnetic part is arranged on one side of the first support, the baffle plate is arranged on the other side of the first support, and the magnetic part and the baffle plate can move in the vertical direction; the gap between one side of the magnetic part close to the feeding shaft and the end face of the feeding end in the horizontal direction is smaller than the thickness of one clamp spring;
the magnetic part moves upwards and can adsorb the clamp spring on the outermost side to the surface of the magnetic part, and the baffle moves upwards and can block the second clamp spring from moving towards the feeding end.
The clamp spring assembling device can radially compress the clamp spring and push the clamp spring to the position of the clamp spring groove, and assembling is completed.
Further, the jump ring assembly device includes:
the bearing table is used for bearing and positioning the piston;
the positioning table is provided with a positioning hole which is divided into a circle contracting part positioned at the front part and a circle stabilizing part positioned at the rear part; the hole diameter of the circle reducing part is gradually reduced from front to back along the axial direction of the positioning hole, and the hole diameter of the constant circle part is not changed;
the material pushing device comprises a material pushing shaft and a front ejection shaft, the material pushing shaft can move back and forth, the material pushing shaft is used for pushing the clamp spring into the constant circle part from the front end of the circle shrinking part along the axial direction of the positioning hole, and one end, close to the positioning table, of the front ejection shaft is provided with a front limiting part;
the matching device comprises a rear ejection shaft capable of moving back and forth, and one end of the rear ejection shaft, which is close to the positioning table, is provided with a rear limiting part;
the front ejection shaft and the rear ejection shaft extend into the constant circle part and clamp the clamp spring, so that the rear limiting part and the front limiting part can limit radial expansion of the clamp spring together; the front ejection shaft and the rear ejection shaft convey the clamped clamp springs to the position of a clamp spring groove in the piston pin hole, and the rear ejection shaft moves backwards, so that the clamp springs can be radially expanded to enter the clamp spring groove.
Furthermore, a magnetic round rod is fixedly arranged at one end, close to the positioning table, of the material pushing shaft, a plurality of sliding blocks are fixedly arranged on the circumferential surface of the magnetic round rod, and the sliding blocks extend outwards along the radial direction of the magnetic round rod; the peripheral surface of the positioning hole is provided with sliding grooves which are in one-to-one correspondence with the sliding blocks, the sliding grooves extend outwards along the radial direction of the positioning hole, and the long edge direction of each sliding groove is parallel to the axial direction of the positioning hole; and one end of the sliding block, which is close to the positioning table, is fixedly provided with a claw, the claw extends out of the plane of the end face of the magnetic round rod, which is close to the positioning table, and the inner surfaces of the claws form a clamping surface for limiting the radial outward expansion of the clamp spring.
Furthermore, the front ejection shaft is close to the end face of one end of the positioning table, the inner side of the end face is fixedly provided with an outward protruding centering shaft, and the outer side of the end face is fixedly provided with an outward protruding front ring; the end face of the front ejection shaft close to the positioning table and the end face of the front ring are in arc transition, and the front limit part is formed by the end face of the front ejection shaft close to the positioning table, the outer surface of the centering shaft and the inner surface of the front ring in a surrounding mode.
Furthermore, the rear ejection shaft is close to the end face of one end of the positioning table, the inner side of the end face is provided with a centering hole which is concave inwards and matched with the centering shaft for centering and positioning, and the outer side of the end face is fixedly provided with a rear ring protruding outwards; the end surface of the rear ejection shaft close to the positioning table and the end surface of the rear ring are in arc transition, and the rear limiting part is formed between the end surface of the rear ejection shaft close to the positioning table and the inner surface of the rear ring in a surrounding mode.
Furthermore, the material pushing device comprises a bottom plate, a first linear module and a second linear module, wherein the first linear module is fixedly arranged on the upper surface of the bottom plate and is arranged along the front-back direction, the second linear module is fixedly connected with the working part of the first linear module and is arranged along the left-right direction, and the material pushing shaft and the front ejection shaft are fixedly connected with the working part of the second linear module; the axial line of the material pushing shaft, the axial line of the front ejection shaft and the axial line of the rear ejection shaft are positioned on the same horizontal plane; the feeding device is characterized in that a positioning table support is fixedly arranged on the upper surface of the bottom plate, the positioning table is fixedly arranged on the upper surface of the positioning table support, and the axis of the positioning hole and the axis of the pushing shaft are located on the same horizontal plane.
The bearing platform comprises a bearing platform body and a positioning block which is fixedly arranged on the upper surface of the bearing platform body and used for positioning the piston; the centering device comprises a centering support, a cylinder and a centering rod, wherein the cylinder is fixedly arranged on the upper surface of the centering support and is arranged along the front-back direction, and the centering rod is fixedly connected with the movable end of the cylinder.
Further, press from both sides and get device including setting up the second support in feed axle both sides, set firmly in the support upper end and along the lateral sliding module that left right direction set up, with the work portion fixed connection of lateral sliding module and along the first lift cylinder that vertical direction set up, with the expansion end fixed connection of first lift cylinder and along the promotion cylinder that the fore-and-aft direction set up, with the both-way cylinder of expansion end fixed connection of promotion cylinder, the clamping jaw total two just respectively with two work portion fixed connection of both-way cylinder.
Furthermore, a second lifting cylinder is fixedly arranged on one side, away from the feeding shaft, of the first support, the second lifting cylinder is arranged along the vertical direction, and the magnetic part is fixedly connected with the movable end of the second lifting cylinder; the magnetic part comprises a stop block and a permanent magnet, one side of the stop block, which is far away from the feeding shaft, is provided with a groove, and the permanent magnet is fixedly arranged in the groove; the both ends of second support set firmly the inductor support, the inboard of inductor support is provided with the infrared inductor that can detect whether have the jump ring, the infrared ray that infrared inductor launched is close to on the dog keeps away from permanent magnet one side's face.
Furthermore, the cross section of the feeding shaft is in a shape of a circle with a minor arc removed and the rest of the minor arc removed, the feeding shaft is provided with an arc surface and a flat surface, and a guide plate is fixedly arranged on the flat surface; the upper surface of the unidirectional vibration machine is fixedly provided with an L-shaped third bracket, and a transverse plate of the third bracket is fixedly arranged on the upper surface of the unidirectional vibration machine; and the upper end of the vertical plate of the third support is fixedly connected with a suspension plate, and the suspension plate is horizontally arranged, and one end of the suspension plate, which is far away from the third support, is fixedly connected with the upper surface of the guide plate.
Compared with the prior art, the invention has the beneficial technical effects that:
1. through the cooperation of magnetic force spare and baffle, can be automatic separate out single jump ring to the feed lasts under the effect of one-way vibrator, can facilitate for subsequent jump ring assembly device, need not artifical on duty material loading, saved the manpower, improved production efficiency.
2. Through the cooperation of the material pushing shaft, the front ejection shaft and the rear ejection shaft, the clamp spring can be sent into the piston, the clamp spring enters the clamp spring groove by means of the elastic restoring force of the clamp spring, automatic assembly of the clamp spring is achieved, the installation precision can be improved, operating personnel are reduced, and the production efficiency is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the clamp spring feeding device of the invention;
FIG. 2 is a side view of the circlip feeding device of the invention;
FIG. 3 is a schematic structural view of the magnetic member of the present invention;
FIG. 4 is a schematic structural view of the magnetic member of the present invention when it is not raised;
FIG. 5 is a schematic diagram of the magnetic member of the present invention after it is lifted;
FIG. 6 is a schematic structural view of a cross section of a feed shaft of the present invention;
FIG. 7 is a schematic structural view of a third stent of the present invention;
FIG. 8 is a schematic structural diagram of an infrared sensor according to the present invention;
FIG. 9 is a schematic view of the overall structure of the circlip assembling device of the present invention;
FIG. 10 is a schematic structural diagram of a first linear module according to the present invention;
FIG. 11 is a schematic view of the pusher shaft of the present invention about to enter the positioning hole;
FIG. 12 is a schematic view of the front ejector shaft of the present invention in preparation for entry into the locating hole;
FIG. 13 is a schematic structural view of a pusher shaft according to the present invention;
FIG. 14 is a schematic structural view of the clamp spring mounted on the pushing shaft according to the present invention;
FIG. 15 is a schematic structural view of the snap spring of the present invention pushed into the constant circle portion;
FIG. 16 is a schematic view of a positioning table according to the present invention;
FIG. 17 is a cross-sectional view of FIG. 15;
FIG. 18 is a cross-sectional view of a positioning table of the present invention;
FIG. 19 is a schematic view of the construction of the front ejector shaft of the present invention;
FIG. 20 is a schematic structural view of a rear ejector shaft of the present invention;
FIG. 21 is a schematic structural view of the clamping and position-limiting snap spring of the front ejection shaft and the rear ejection shaft of the present invention;
fig. 22 is a schematic structural view of the front ejector shaft and the rear ejector shaft conveying the snap spring to the snap spring groove position.
Detailed Description
A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
The clamp spring is arranged in the piston pin hole and used for preventing the piston pin from axially moving; the clamp spring is in a ring shape and is provided with a clamp spring opening.
When the clamp spring is assembled in the prior art, the clamp spring needs to be separated manually and assembled manually, so that the efficiency is low and the precision is poor.
As shown in fig. 1-2, a piston jump ring material loading, assembly quality, including jump ring material loading attachment and jump ring assembly quality, jump ring material loading attachment includes:
the clamping device 200 is provided with a clamping jaw 260 which can do spatial three-dimensional motion and can clamp the clamp spring 10;
the vibration feeding device 300 comprises a one-way vibrator 310 and a feeding shaft 320 fixedly connected with the one-way vibrator, wherein a clamp spring is sleeved on the feeding shaft, one end of the feeding shaft, away from the clamp spring, is a feeding end, and the one-way vibrator is used for conveying the clamp spring sleeved on the feeding shaft to the feeding end;
a material separating device 400 which comprises a first bracket 410, a magnetic member 440 arranged on one side of the first bracket and a baffle 450 arranged on the other side of the first bracket, wherein the magnetic member and the baffle can move in the vertical direction; the gap between one side of the magnetic part close to the feeding shaft and the end face of the feeding end in the horizontal direction is smaller than the thickness of one clamp spring;
the magnetic part moves upwards and can adsorb the clamp spring on the outermost side to the surface of the magnetic part, and the baffle moves upwards and can block the second clamp spring from moving towards the feeding end.
The clamp spring assembling device can radially compress the clamp spring and push the clamp spring to the position of the clamp spring groove, and assembling is completed.
The working principle of the clamp spring feeding device is as follows: the face that magnetic force spare is close to feed axle one side is the locating surface, magnetic force spare rebound adsorbs the locating surface to magnetic force spare with the jump ring in the outside, because the clearance between the terminal surface of locating surface and feed end is less than the thickness of a jump ring, and the jump ring does not break away from the axial positioning effect of feed axle completely this moment, and the phenomenon that drops takes place after this kind of locating surface and feed axle's double location effect can prevent that the jump ring from being adsorbed by magnetic force spare.
The magnetic force piece adsorbs the in-process of locating surface with the outside jump ring, produces the clearance between outside jump ring and the second jump ring, because one-way bobbing machine's transport effect, and second jump ring can move to the feed end, and above-mentioned clearance can dwindle gradually, and after second jump ring and outside jump ring contacted again, the clamping jaw was pressed from both sides two jump rings together easily, can't accomplish the branch material work of single jump ring.
In the axial direction of the feeding shaft, before the second clamp spring passes over the position of the baffle plate, the baffle plate is lifted, the second clamp spring is prevented from continuously moving towards the feeding end, a certain gap is formed between the outermost clamp spring and the second clamp spring, the outermost clamp spring can be clamped by the clamping jaw capable of doing spatial three-dimensional motion, and the clamp spring is ready to be conveyed to the next procedure.
In order to avoid the moving clamping spring from moving to interfere with other parts in the conveying process, the magnetic part needs to move downwards, then the clamping jaw moves forwards, the clamping spring is separated from the axial positioning of the feeding shaft, and then the clamping spring is conveyed to other procedures.
Wherein, the jump ring at the outermost side is the first jump ring seen from the side of the feeding end.
The second clamp spring is the clamp spring adjacent to the outermost clamp spring.
The clamp spring feeding device further comprises a bottom plate 100, and the clamping device, the vibration feeding device and the distributing device are fixedly arranged on the upper surface of the bottom plate.
The unidirectional vibration machine can make the vibrated object move along a specific direction, and in the embodiment, the unidirectional vibration machine can make the clamp spring on the feeding shaft continuously and slowly move towards the feeding end to realize feeding of the clamp spring.
Through the cooperation of magnetic force spare and baffle, can separate out single jump ring automatically to carry out the jump ring feed continuously under the effect of one-way bobbing machine, can facilitate for the automatic equipment of jump ring, need not artifical on duty material loading, saved the manpower, improved production efficiency.
As shown in fig. 1-2, the gripping device 200 includes a second support 210 disposed at two sides of the feeding shaft, a transverse sliding module 220 fixedly disposed at an upper end of the second support and disposed along a left-right direction, a first lifting cylinder 230 fixedly connected to a working portion of the transverse sliding module and disposed along a vertical direction, a pushing cylinder 240 fixedly connected to a movable end of the first lifting cylinder and disposed along a front-back direction, and a bi-directional cylinder 250 fixedly connected to a movable end of the pushing cylinder, wherein the gripping jaws are two in total and fixedly connected to two working portions of the bi-directional cylinder respectively.
Horizontal module, first lift cylinder, the cooperation that promotes the cylinder can drive two-way cylinder and carry out preceding, backward, left direction, right direction, upward, decurrent three-dimensional space motion, and then drive the clamping jaw and carry out three-dimensional space motion, can transport the jump ring to next process in a flexible way.
The inside of clamping jaw is provided with tubaeform opening, and two clamping jaws can carry out the relative motion under the drive of two-way cylinder, press from both sides the outside of tight jump ring, realize pressing from both sides tightly of jump ring.
As shown in fig. 3-5, a second lifting cylinder 420 is fixedly arranged on one side of the first bracket 410 away from the feeding shaft, the second lifting cylinder is arranged along the vertical direction, and the magnetic member 440 is fixedly connected with the movable end of the second lifting cylinder; the magnetic member 440 includes a stopper 441 and a permanent magnet 442, wherein a groove is formed on one side of the stopper away from the feeding shaft, and the permanent magnet is fixedly disposed in the groove.
The second lifting cylinder is a sliding table cylinder which is provided with a sliding plate capable of moving up and down, and the magnetic part is fixedly connected with the sliding plate.
The clamp spring is made of steel, so that the clamp spring can be adsorbed by the permanent magnet.
As shown in fig. 3 and 8, the sensor holder 430 is fixedly arranged at two ends of the second holder, an infrared sensor 431 capable of detecting whether the snap spring exists is arranged inside the sensor holder, and infrared rays emitted by the infrared sensor are closely attached to the surface of the stopper on the side far away from the permanent magnet 442.
After the magnetic force piece upward movement, if the jump ring drops or the feeding does not have the jump ring on the axle, then can not have the jump ring to be adsorbed to the locating surface, then the infrared ray that infrared inductor launched can not blocked by the jump ring, can judge this moment not have the jump ring to be separated out, and then can not make the clamping jaw move here.
It is the conventional technology to judge whether there is material through infrared inductor.
As shown in fig. 2-5, a third lifting cylinder 460 is fixedly arranged on one side of the first support close to the feeding shaft, the third lifting cylinder is arranged along the vertical direction, and the baffle 450 is fixedly connected with a movable end of the third lifting cylinder; an arc-shaped notch is formed in the middle of the upper end of the baffle.
The third lifting cylinder is a sliding table cylinder, the sliding table cylinder is provided with a sliding plate capable of moving up and down, and the baffle is fixedly connected with the sliding plate.
The arc breach can realize the two point type contacts of baffle and jump ring, can improve the stability of blockking the effect.
As shown in fig. 6-7, the cross section of the feeding shaft 320 is the shape of a circle with a minor arc removed and the remaining shape is the shape of a circle, the feeding shaft has an arc surface and a flat surface, and a guide plate 330 is fixed on the flat surface; the upper surface of the unidirectional vibration machine is fixedly provided with an L-shaped third bracket 340, and a transverse plate 341 of the third bracket is fixedly arranged on the upper surface of the unidirectional vibration machine 310; the upper end of the vertical plate 342 of the third bracket is fixedly connected with a suspension plate 350, and the suspension plate is horizontally arranged, and one end of the suspension plate, which is far away from the third bracket, is fixedly connected with the upper surface of the guide plate 330.
The two ends of the feeding shaft are respectively a feeding end and a feeding end, and the clamp springs can be manually sleeved into the feeding shaft in batches through the feeding ends.
The arc length of the inferior segment is smaller than a semicircle, the feeding shaft adopts the shape of the cross section, so that the clamp spring can be suspended on the feeding shaft and cannot fall off, and the width of the positioning plate is slightly smaller than the width of the opening of the clamp spring; and in the process of moving the clamp spring to the feeding end, the positioning plate keeps the clamp spring positioned.
As shown in fig. 9 to 22, the snap spring assembling apparatus includes:
a bearing table 520 for bearing and positioning the piston;
a positioning table 710 on which a positioning hole 711 is provided, the positioning hole being divided into a rounded portion 711-1 at the front and a constant-rounded portion 711-2 at the rear; the hole diameter of the circle reducing part is gradually reduced from front to back along the axial direction of the positioning hole, and the hole diameter of the constant circle part is not changed;
the material pushing device 600 comprises a material pushing shaft 640 and a front ejection shaft 650, wherein the material pushing shaft 640 and the front ejection shaft are capable of moving back and forth, the material pushing shaft is used for pushing the clamp spring from the front end of the circle shrinking part 711-1 to the constant circle part 711-2 along the axial direction of the positioning hole, and one end, close to the positioning table 710, of the front ejection shaft 650 is provided with a front limiting part 652;
the matching device 800 comprises a rear ejection shaft 830 capable of moving back and forth, and one end of the rear ejection shaft close to the positioning table is provided with a rear limit part 832;
the front ejection shaft and the rear ejection shaft extend into the constant circle part and clamp the clamp spring, so that the rear limiting part and the front limiting part can limit radial expansion of the clamp spring together; the front ejection shaft and the rear ejection shaft convey the clamped clamp springs to the position of a clamp spring groove 21 in the piston pin hole, and the rear ejection shaft moves backwards, so that the clamp springs can be radially expanded to enter the clamp spring groove.
The clamp spring groove 21 is positioned in the piston pin hole, and the clamp spring is clamped in the clamp spring groove.
Through the cooperation of the material pushing shaft, the front ejection shaft and the rear ejection shaft, the clamp spring can be sent into the piston, the clamp spring enters the clamp spring groove by means of the elastic restoring force of the clamp spring, automatic assembly of the clamp spring is achieved, the installation precision can be improved, operating personnel are reduced, and the production efficiency is improved.
As shown in fig. 9, 13 and 16, a magnetic round rod 641 is fixedly arranged at one end of the material pushing shaft 640 close to the positioning table, and a plurality of sliding blocks 642 are fixedly arranged on the circumferential surface of the magnetic round rod and extend outwards along the radial direction of the magnetic round rod; the circumferential surface of the positioning hole 711 is provided with sliding grooves 712 corresponding to the sliding blocks one by one, the sliding grooves extend outwards along the radial direction of the positioning hole, and the long side direction of the sliding grooves is parallel to the axial direction of the positioning hole; and one end of the sliding block 642 close to the positioning table is fixedly provided with a claw 643, the claw extends out from the plane of the end surface of the magnetic round rod close to the positioning table 710, and the inner surfaces of a plurality of claws form a clamping surface 644 for limiting the outward radial expansion of the clamp spring.
As shown in fig. 14, before the snap spring assembly, the snap spring feeding device separates a single snap spring, and the separated single snap spring needs to be installed in the claw; because the jump ring has opening and elasticity restoring force, the clamping jaw can compress tightly the jump ring and reduce its internal diameter to in blocking into the jack catch, after the clamping jaw relaxs, jump ring elasticity resumes, the internal diameter enlarges, the tight clamping surface of a plurality of jack catches retrains the jump ring, can fix the jump ring through the tight contact of clamp between tight clamping surface and the jump ring.
The magnetic round rod has certain magnetism, can generate certain attraction to the clamp spring, and avoids the clamp spring from falling.
The sliding blocks on the pushing shaft correspond to the sliding grooves on the positioning hole one by one, so that the pushing shaft can smoothly enter the positioning hole, and as the inner diameter of the front part of the positioning hole is gradually reduced, the radius of the clamp spring is gradually reduced along with the pushing of the pushing shaft, and the clamp spring finally enters the constant-circle part, and the diameter of the clamp spring is the same as that of the constant-circle part; after the radius of the clamp spring is reduced, the clamping surface is not contacted with the outer surface of the clamp spring any more, the clamp spring is tightly contacted with the surface of the constant circular part due to the elastic restoring force of the clamp spring, the magnetic force round rod is weak in magnetism, the material pushing shaft is moved out of the positioning hole, and the clamp spring stays in the constant circular part and cannot be separated along with the material pushing shaft.
The sliding grooves are formed in the surfaces of the positioning holes, because the sliding blocks are arranged on the pushing shafts and extend outwards along the radial direction of the pushing shafts, in order to ensure that the pushing shafts can smoothly enter the positioning holes, the sliding blocks and the sliding grooves need to be in one-to-one correspondence; the sliding block is arranged on the pushing shaft, because the inner diameter of the clamping spring is larger before the clamping spring enters the positioning hole, the sliding block which protrudes outwards needs to be arranged on the surface of the pushing shaft, so that the clamping surface can be matched with the size of the clamping spring; and in order to ensure that the clamp springs do not leave together when the material pushing shaft exits the positioning hole, the clamp springs are required to be tightly contacted with the surface of the constant circular part in the constant circular part, and the effect can be achieved only by enabling the sliding blocks to extend into the radial inner part of the surface of the positioning hole.
As shown in fig. 19, an end surface of the front ejector shaft 650 near one end of the positioning table 710 has an inwardly extending centering shaft 651 fixed thereto and an outwardly extending front ring 653 fixed thereto; the end surface of the front ejection shaft close to the positioning table and the end surface of the front ring are in arc transition, and the front limit portion 652 is formed by the end surface of the front ejection shaft close to the positioning table, the outer surface of the centering shaft and the inner surface of the front ring in a surrounding manner.
As shown in fig. 20, an end surface of the rear ejection shaft 830 near one end of the positioning table 710 has an inward concave centering hole 831 formed on an inner side of the end surface and cooperating with the centering shaft 651 for centering, and an outward convex rear ring 833 is fixedly disposed on an outer side of the end surface; the end surface of the rear ejection shaft close to the positioning table and the end surface of the rear ring are in arc transition, and the rear limiting part 832 is formed between the end surface of the rear ejection shaft close to the positioning table and the inner surface of the rear ring in a surrounding manner.
As shown in fig. 21, after the circlip enters the constant round part, the front ejection shaft and the rear ejection shaft need to be matched, and then the circlip is sent into the piston pin hole: the front ejection shaft and the rear ejection shaft respectively enter the positioning holes from two sides of the clamp spring, the centering shaft of the front ejection shaft is matched and centered with the centering hole of the rear ejection shaft, and the clamp spring is clamped between the front limiting part and the rear limiting part; after the clamp spring is clamped between the front limiting part and the rear limiting part, the radial expansion of the clamp spring can be limited by the cooperation of the front limiting part and the rear limiting part, so that the radial size of the clamp spring cannot be changed even if the clamp spring leaves the constant-circle part.
As shown in fig. 22, the front ejection shaft and the rear ejection shaft move backwards to keep the state that the front ejection shaft and the rear ejection shaft clamp the snap spring, and the snap spring is sent to the position of the snap spring groove in the piston pin hole, so that the rear ejection shaft moves backwards, the snap spring loses the limiting effect of the rear limiting part, the radial size of the snap spring is suddenly increased, the snap spring is bounced into the snap spring groove, the assembly of the snap spring is completed, and the front ejection shaft can move forwards out of the positioning hole.
In order to achieve the effect, the width of the front ring and the width of the rear ring should not exceed the thickness of half of the clamp spring, so that the radial limit of the clamp spring can be guaranteed to be required to pass through the combined action of the front limit part and the rear limit part, the clamp spring cannot be clamped into the front limit part or the rear limit part, and the process stability of clamp spring assembly is improved.
As shown in fig. 16 and 18, two through holes 713 are symmetrically formed in the circumferential surface of the constant circular portion 711-2, two infrared detection devices are symmetrically formed on the positioning table 710, each infrared detection device includes a detection support 721 fixedly connected to the positioning table and an infrared detector 722 fixedly arranged on the detection support, and infrared rays emitted by the infrared detector on one side can sequentially pass through the two through holes and reach a receiving portion of the infrared detector on the other side.
When not having the jump ring in the permanent circle portion, the infrared ray that infrared detector transmitted can not be blocked, when having the jump ring in the permanent circle portion, infrared detector transmitted infrared ray can be blocked, can judge whether to have the material in the permanent circle portion through this kind of mode, if do not have the material and can stop the equipment action, avoids the production of invalid action, has improved production efficiency.
It is conventional in the art to use an infrared detector to determine whether material is present.
As shown in fig. 9 and 10, the material pushing device 600 includes a bottom plate 610, a first linear module 620 fixedly disposed on an upper surface of the bottom plate and arranged along a front-back direction, and a second linear module 630 fixedly connected to a working portion of the first linear module and arranged along a left-right direction, wherein the material pushing shaft 640 and the front ejection shaft 650 are fixedly connected to a working portion of the second linear module; the axial line of the material pushing shaft, the axial line of the front ejection shaft and the axial line of the rear ejection shaft 830 are positioned on the same horizontal plane.
The first linear module can drive the second linear module to move in the front-back direction, the second linear module can drive the front ejection shaft and the material pushing shaft to move in the left-right direction, namely the material pushing shaft and the front ejection shaft can move in the front-back direction, the left-right direction and the right-left direction, so that the material pushing shaft and the front ejection shaft can complete feeding work.
As shown in fig. 11 and 12, when the push shaft is required to push the clamp spring into the constant circle part, the second linear module moves leftwards, and the axis of the push shaft is overlapped with the axis of the positioning hole; when the front ejection shaft is required to enter the positioning hole, the second linear module moves rightwards, and the axes of the front ejection shaft and the positioning hole are overlapped.
As shown in fig. 9, a positioning table bracket 730 is fixedly arranged on the upper surface of the bottom plate 610, the positioning table 710 is fixedly arranged on the upper surface of the positioning table bracket, and the axis of the positioning hole 711 and the axis of the pushing shaft 640 are located on the same horizontal plane.
The axis of the material pushing shaft, the axis of the front ejection shaft, the axis of the rear ejection shaft and the axis of the positioning hole are on the same horizontal plane, so that the devices do not need to consider the problem of up-and-down movement, the arrangement of moving parts can be reduced, and the assembly efficiency and the equipment stability are improved.
As shown in fig. 9 and 10, the matching device includes a matching bracket 810 and a third linear module 820 fixed on the matching bracket and arranged along the front-back direction, and the rear ejection shaft 830 is fixedly connected to the working portion of the third linear module.
The third linear module can drive the rear ejection shaft to move in the front-rear direction.
As shown in fig. 9 and 10, the apparatus further includes a feeding assembly 500, the feeding assembly includes a fourth linear module 510 disposed along the left-right direction, the bearing table 520 is fixedly connected to the working portion of the fourth linear module, and the bearing table includes a bearing table body and a positioning block 530 fixedly disposed on the upper surface of the bearing table body and used for positioning the piston.
As shown in fig. 9 and 10, the centering device 900 further includes a centering bracket 910, a cylinder 920 fixed on the upper surface of the centering bracket and arranged in the front-rear direction, and a centering rod 930 fixedly connected to the movable end of the cylinder.
The piston is placed on the bearing table, the positioning block can limit the movement of the piston, the precision of the linear module is limited, in order to improve the efficiency and precision of clamp spring assembly, the centering rod extends into the piston pin hole firstly, the piston drives the working part of the fourth linear module to move in the left-right direction, the calibration of the initial position of the piston is completed, the fourth linear module conveys the piston to the position between the positioning table and the rear ejection shaft, the axis of the piston pin hole and the axis of the rear ejection shaft are located on the same horizontal plane, the clamp spring can be clamped by the front ejection shaft and the rear ejection shaft, and the clamp spring is conveyed into the piston pin hole.
The piston is positioned between the positioning table and the rear ejection shaft, and the rear ejection shaft needs to pass through the piston pin hole before entering the positioning hole.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The utility model provides a piston jump ring material loading, assembly quality, its characterized in that, includes jump ring material loading attachment and jump ring assembly quality, jump ring material loading attachment includes:
the clamping device (200) is provided with a clamping jaw (260) which can do spatial three-dimensional motion and can clamp the clamp spring (10);
the vibration feeding device (300) comprises a one-way vibration machine (310) and a feeding shaft (320) fixedly connected with the one-way vibration machine, wherein a clamp spring is sleeved on the feeding shaft, one end, away from the clamp spring, of the feeding shaft is a feeding end, and the one-way vibration machine is used for conveying the clamp spring sleeved on the feeding shaft to the feeding end;
the material separating device (400) comprises a first bracket (410), a magnetic piece (440) arranged on one side of the first bracket and a baffle (450) arranged on the other side of the first bracket, wherein the magnetic piece and the baffle can move in the vertical direction; the gap between one side of the magnetic part close to the feeding shaft and the end face of the feeding end in the horizontal direction is smaller than the thickness of one clamp spring;
the magnetic part moves upwards and can adsorb the clamp spring on the outermost side to the surface of the magnetic part, and the baffle moves upwards and can block the second clamp spring from moving towards the feeding end;
the clamp spring assembling device can radially compress the clamp spring and push the clamp spring to the position of the clamp spring groove to complete assembling;
the jump ring assembly device includes:
a bearing table (520) for bearing and positioning the piston;
a positioning table (710) provided with a positioning hole (711) divided into a rounded portion (711-1) at the front and a constant-rounded portion (711-2) at the rear; the hole diameter of the circle reducing part is gradually reduced from front to back along the axial direction of the positioning hole, and the hole diameter of the constant circle part is not changed;
the pushing device (600) comprises a pushing shaft (640) and a front ejection shaft (650), wherein the pushing shaft can move back and forth, the pushing shaft is used for pushing the clamp spring into the constant circle part (711-2) from the front end of the circle shrinking part (711-1) along the axial direction of the positioning hole, and one end, close to the positioning table (710), of the front ejection shaft (650) is provided with a front limiting part (652);
a fitting device (800) comprising a rear ejection shaft (830) capable of forward and backward movement, the rear ejection shaft having a rear stopper (832) at an end thereof adjacent to the positioning table;
the front ejection shaft and the rear ejection shaft extend into the constant circle part and clamp the clamp spring, so that the rear limiting part and the front limiting part can limit radial expansion of the clamp spring together; the front ejection shaft and the rear ejection shaft convey the clamped clamp springs to a clamp spring groove (21) in the piston pin hole, and the rear ejection shaft moves backwards to enable the clamp springs to radially expand and enter the clamp spring groove;
one end, close to the positioning table, of the material pushing shaft (640) is fixedly provided with a magnetic round rod (641), the circumferential surface of the magnetic round rod is fixedly provided with a plurality of sliding blocks (642), and the sliding blocks extend outwards along the radial direction of the magnetic round rod; the peripheral surface of the positioning hole (711) is provided with sliding grooves (712) which are in one-to-one correspondence with the sliding blocks, the sliding grooves extend outwards along the radial direction of the positioning hole, and the long side direction of the sliding grooves is parallel to the axial direction of the positioning hole; and one end of the sliding block (642) close to the positioning table is fixedly provided with a claw (643), the claw extends out from the plane of the end surface of the magnetic round rod close to the positioning table (710), and the inner surfaces of the claws form a clamping surface (644) for limiting the outward radial expansion of the clamp spring.
2. The piston clamp spring feeding and assembling device of claim 1, wherein: the inner side of the end face of one end of the front ejection shaft (650) close to the positioning table (710) is fixedly provided with an outward protruding centering shaft (651), and the outer side of the end face is fixedly provided with an outward protruding front ring (653); the end surface of the front ejection shaft close to the positioning table and the end surface of the front ring are in arc transition, and the front limit part (652) is formed by the end surface of the front ejection shaft close to the positioning table, the outer surface of the centering shaft and the inner surface of the front ring in a surrounding mode.
3. The piston clamp spring feeding and assembling device of claim 1, wherein: the inner side of the end face of one end, close to the positioning table (710), of the rear ejection shaft (830) is provided with a centering hole (831) which is concave inwards and is matched with the centering shaft (651) for centering and positioning, and the outer side of the end face is fixedly provided with a rear ring (833) protruding outwards; the end surface of the rear ejection shaft close to the positioning table and the end surface of the rear ring are in arc transition, and the rear limiting part (832) is formed between the end surface of the rear ejection shaft close to the positioning table and the inner surface of the rear ring in a surrounding mode.
4. The piston clamp spring feeding and assembling device of claim 1, wherein: the material pushing device (600) comprises a bottom plate (610), a first linear module (620) fixedly arranged on the upper surface of the bottom plate and arranged along the front-back direction, and a second linear module (630) fixedly connected with the working part of the first linear module and arranged along the left-right direction, wherein the material pushing shaft (640) and the front ejection shaft (650) are fixedly connected with the working part of the second linear module; the axial line of the material pushing shaft, the axial line of the front ejection shaft and the axial line of the rear ejection shaft (830) are positioned on the same horizontal plane; the upper surface of the bottom plate (610) is fixedly provided with a positioning table support (730), the positioning table (710) is fixedly arranged on the upper surface of the positioning table support, and the axis of the positioning hole (711) and the axis of the material pushing shaft (640) are located on the same horizontal plane.
5. The piston clamp spring feeding and assembling device of claim 1, wherein: the automatic piston positioning device is characterized by further comprising a feeding assembly (500), the feeding assembly comprises a fourth linear module (510) arranged along the left-right direction, the bearing table (520) is fixedly connected with a working part of the fourth linear module, and the bearing table comprises a bearing table body and a positioning block (530) which is fixedly arranged on the upper surface of the bearing table body and used for positioning a piston; the centering device (900) comprises a centering support (910), an air cylinder (920) fixedly arranged on the upper surface of the centering support and arranged along the front-back direction, and a centering rod (930) fixedly connected with the movable end of the air cylinder.
6. The piston clamp spring feeding and assembling device of claim 1, wherein: the clamping device (200) comprises a second support (210) arranged on two sides of the feeding shaft, a transverse sliding module (220) fixedly arranged at the upper end of the support and arranged along the left and right direction, a first lifting cylinder (230) fixedly connected with the working part of the transverse sliding module and arranged along the vertical direction, a pushing cylinder (240) fixedly connected with the movable end of the first lifting cylinder and arranged along the front and back direction, and a bidirectional cylinder (250) fixedly connected with the movable end of the pushing cylinder, wherein the clamping jaws (260) are two in total and are respectively fixedly connected with the two working parts of the bidirectional cylinder.
7. The piston clamp spring feeding and assembling device of claim 6, wherein: a second lifting cylinder (420) is fixedly arranged on one side, away from the feeding shaft, of the first support (410), the second lifting cylinder is arranged along the vertical direction, and the magnetic part (440) is fixedly connected with the movable end of the second lifting cylinder; the magnetic part (440) comprises a stop block (441) and a permanent magnet (442), one side of the stop block, which is far away from the feeding shaft, is provided with a groove, and the permanent magnet is fixedly arranged in the groove; the two ends of the second support are fixedly provided with sensor supports (430), the inner side of each sensor support is provided with an infrared sensor (431) capable of detecting whether a snap spring exists, and infrared rays emitted by the infrared sensors are close to the surface of one side, far away from the permanent magnet (442), of the stop block.
8. The piston clamp spring feeding and assembling device of claim 1, wherein: the cross section of the feeding shaft (320) is in a shape of a circle, a minor arc and a segment are cut off, the feeding shaft is provided with an arc surface and a flat surface, and a guide plate (330) is fixedly arranged on the flat surface; the upper surface of the unidirectional vibration machine is fixedly provided with an L-shaped third bracket (340), and a transverse plate (341) of the third bracket is fixedly arranged on the upper surface of the unidirectional vibration machine (310); the upper end of the vertical plate (342) of the third support is fixedly connected with a suspension plate (350), the suspension plate is horizontally arranged, and one end, far away from the third support, of the suspension plate is fixedly connected with the upper surface of the guide plate (330).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010317487.1A CN111376017B (en) | 2020-04-21 | 2020-04-21 | Piston clamp spring feeding and assembling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010317487.1A CN111376017B (en) | 2020-04-21 | 2020-04-21 | Piston clamp spring feeding and assembling device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111376017A CN111376017A (en) | 2020-07-07 |
| CN111376017B true CN111376017B (en) | 2021-05-07 |
Family
ID=71214204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010317487.1A Active CN111376017B (en) | 2020-04-21 | 2020-04-21 | Piston clamp spring feeding and assembling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111376017B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114406937A (en) * | 2022-02-18 | 2022-04-29 | 珠海格力智能装备有限公司 | Fixture mechanism and clamp spring assembling device |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11151623A (en) * | 1997-11-19 | 1999-06-08 | Sadamichi Kumada | Grommet pressing-out device and pallet supporting device |
| CN104690529A (en) * | 2015-03-19 | 2015-06-10 | 苏州市吴中区木渎华利模具加工店 | Bearing pressing device of engine belt tightening pulley pressing machine |
| CN204413501U (en) * | 2014-12-16 | 2015-06-24 | 东莞市中天自动化科技有限公司 | Jump ring automatic feed mechanism |
| CN205270882U (en) * | 2016-01-18 | 2016-06-01 | 富阳富宝仪表机床厂 | Ring work piece automatic feed mechanism |
| CN205733670U (en) * | 2016-06-17 | 2016-11-30 | 雄华机械(苏州)有限公司 | A kind of jump ring installs equipment |
| CN106181334A (en) * | 2016-08-23 | 2016-12-07 | 台州联方机电科技有限公司 | M type jump ring automatic assembling device |
| CN108340146A (en) * | 2018-02-06 | 2018-07-31 | 姜棋 | A kind of piston circlip fitting machine and operating method |
| CN108544216A (en) * | 2018-06-19 | 2018-09-18 | 滨州渤海活塞有限公司 | Piston circlip automatic assembling apparatus and method |
| CN110091153A (en) * | 2019-03-04 | 2019-08-06 | 江苏龙城精锻有限公司 | A kind of circlip automatic press mounting equipment |
| CN110394648A (en) * | 2019-08-06 | 2019-11-01 | 柳州市金元机械制造有限公司 | Gear selecting plate and control stick assemble device |
| CN209754505U (en) * | 2019-04-20 | 2019-12-10 | 台州尚品机械有限公司 | Automatic clamp spring and oil injection assembly machine |
-
2020
- 2020-04-21 CN CN202010317487.1A patent/CN111376017B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11151623A (en) * | 1997-11-19 | 1999-06-08 | Sadamichi Kumada | Grommet pressing-out device and pallet supporting device |
| CN204413501U (en) * | 2014-12-16 | 2015-06-24 | 东莞市中天自动化科技有限公司 | Jump ring automatic feed mechanism |
| CN104690529A (en) * | 2015-03-19 | 2015-06-10 | 苏州市吴中区木渎华利模具加工店 | Bearing pressing device of engine belt tightening pulley pressing machine |
| CN205270882U (en) * | 2016-01-18 | 2016-06-01 | 富阳富宝仪表机床厂 | Ring work piece automatic feed mechanism |
| CN205733670U (en) * | 2016-06-17 | 2016-11-30 | 雄华机械(苏州)有限公司 | A kind of jump ring installs equipment |
| CN106181334A (en) * | 2016-08-23 | 2016-12-07 | 台州联方机电科技有限公司 | M type jump ring automatic assembling device |
| CN108340146A (en) * | 2018-02-06 | 2018-07-31 | 姜棋 | A kind of piston circlip fitting machine and operating method |
| CN108544216A (en) * | 2018-06-19 | 2018-09-18 | 滨州渤海活塞有限公司 | Piston circlip automatic assembling apparatus and method |
| CN110091153A (en) * | 2019-03-04 | 2019-08-06 | 江苏龙城精锻有限公司 | A kind of circlip automatic press mounting equipment |
| CN209754505U (en) * | 2019-04-20 | 2019-12-10 | 台州尚品机械有限公司 | Automatic clamp spring and oil injection assembly machine |
| CN110394648A (en) * | 2019-08-06 | 2019-11-01 | 柳州市金元机械制造有限公司 | Gear selecting plate and control stick assemble device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111376017A (en) | 2020-07-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111376017B (en) | Piston clamp spring feeding and assembling device | |
| CN112412990B (en) | Automatic assembly line for needle roller bearing | |
| US20130042471A1 (en) | Rivet setter | |
| CN109773362B (en) | Compressor welding system | |
| CN209239603U (en) | A kind of numerically controlled lathe feeding manipulator | |
| CN109079720B (en) | Single robot bearing assembly operation platform | |
| CN110614604A (en) | Automatic sleeve replacing device | |
| CN212169512U (en) | Piston clamp spring feeding clamping device | |
| CN210121735U (en) | Compressor welding system | |
| CN111376019A (en) | Piston clamp spring feeding clamping device | |
| CN105345825B (en) | Mechanical arm device for quick taking and placing of round battery | |
| CN114700720B (en) | Roller assembly equipment | |
| CN212169514U (en) | Piston clamp spring assembling device | |
| CN213225006U (en) | Press mounting equipment for zoom lens | |
| CN111376018A (en) | Piston clamp spring assembling device | |
| CN209442245U (en) | A kind of Intelligent Truss Structures with versatility gripping structure | |
| CN107790997B (en) | Roller bearing loading mechanism | |
| CN109365657B (en) | Automatic riveting equipment for limit sleeve of angle regulator | |
| CN109049859B (en) | Paper ring feeding device | |
| CN219535844U (en) | Magnetic shoe assembling die | |
| CN113289915A (en) | Inside and outside diameter detection device of cross axle | |
| CN219535843U (en) | Magnetic shoe assembling machine | |
| CN215100603U (en) | Hose material loading aligning device and hose production and processing equipment | |
| CN205380670U (en) | High -efficient transport arm -and -hand system of fuel sprayer valve body | |
| CN216706598U (en) | Automatic installation and detection device for clamp spring for shaft |
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 |