CN112318538A - Cargo handling manipulator - Google Patents
Cargo handling manipulator Download PDFInfo
- Publication number
- CN112318538A CN112318538A CN202011229063.6A CN202011229063A CN112318538A CN 112318538 A CN112318538 A CN 112318538A CN 202011229063 A CN202011229063 A CN 202011229063A CN 112318538 A CN112318538 A CN 112318538A
- Authority
- CN
- China
- Prior art keywords
- guide
- arm
- guide rod
- driving
- rod
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
Abstract
The invention provides a cargo carrying manipulator, which belongs to the technical field of mechanical devices and comprises a base, a first guide rod, a second guide rod, a guide rod driving device and at least one group of arm, wherein each group of arm comprises a first arm and a second arm, the guide rod driving device is arranged on the base, one end of the first guide rod is connected with the first arm, the other end of the first guide rod is connected with the guide rod driving device, one end of the second guide rod is connected with the second arm, the other end of the second guide rod is connected with the guide rod driving device, the two arms are oppositely arranged, a cargo is clamped between the two arms, and the guide rod driving device is suitable for driving the first arm and the second arm to synchronously move up and down in the vertical direction and relatively to the first guide rod, The second guide rods synchronously rotate towards each other or rotate away from each other. The invention has compact structure, small swept space in the hoisting and transferring process and is suitable for operation in small space.
Description
Technical Field
The invention relates to a mechanical device, in particular to a cargo carrying manipulator.
Background
The large-scale mechanical goods manipulator is indispensable mechanical equipment in goods hoist and mount and transportation process, and current goods manipulator is because the limited volume of structure is huge, and hoist and mount and transportation process sweep the space big moreover, is unsuitable to the operation in the little space.
Disclosure of Invention
The invention solves the problem of providing a cargo handling manipulator which has compact structure, small swept space in the hoisting and transferring process and is suitable for operation in small space.
In order to solve the above problems, the present invention provides a cargo handling robot, comprising a base, a first guide rod, a second guide rod, a guide rod driving device, and at least one set of arm, wherein each set of arm comprises a first arm and a second arm,
the utility model discloses a goods clamping device, including guide bar drive arrangement, first guide bar, second guide bar, arm, first guide bar, second guide bar, guide bar drive arrangement, first guide bar one end with the first arm of embracing is connected, the first guide bar other end with guide bar drive arrangement connects, two embrace the arm and set up in opposite directions, two embrace and be used for the centre gripping goods between the arm, guide bar drive arrangement is suitable for to pass through first guide bar the second guide bar drives first armful arm the second is embraced the arm and is reciprocated and relative in the vertical direction in step first guide bar the second guide bar is synchronous to rotate or is deviated from each other and rotate.
Furthermore, two guide rod driving devices are arranged, the two guide rod driving devices have the same structure, one of the guide rod driving devices comprises a power device, a driving screw rod, a guide rod nut and a guide block,
the base is provided with a guide rod hole,
one end, far away from the second holding arm, of the second guide rod is arranged in the guide rod hole, an installation groove is formed in the axial center of one end, far away from the second holding arm, of the second guide rod, a guide groove is formed in the outer wall of one end, close to the second holding arm, of the second guide rod, the guide groove extends along the length direction of the second guide rod, the guide groove comprises a linear section and a spiral section, the linear section is communicated with the spiral section, the linear section is close to the second holding arm, and the spiral section is far away from the second holding arm,
one end of the driving screw is a connecting end, the other end of the driving screw is a driving end, the connecting end of the driving screw is connected with an output shaft of the power device, the driving end of the driving screw extends into the mounting groove, the guide rod nut is connected to the driving screw in a threaded manner, the guide rod nut is positioned in the mounting groove, the outer wall of the guide rod nut is connected with the inner wall of the second guide rod in a threaded manner,
the guide block is connected to the base and is located in the guide groove.
Furthermore, one end of the guide block penetrates through the hole wall of the guide rod hole in the base and extends into the guide groove, and the other end of the guide block is connected with the base through a screw.
Further, the power device is a driving motor.
Furthermore, the connecting end of the driving screw rod is positioned in the driving rod hole, and a lubricating sleeve is arranged between the connecting end of the driving screw rod and the hole wall of the driving rod.
Further, the lubricating sleeve is made of copper.
Furthermore, a motor output shaft mounting groove is formed in the connecting end of the driving screw, the output shaft of the driving motor is arranged in the motor output shaft mounting groove, and the output shaft of the driving motor is in key connection with the motor output shaft mounting groove.
Furthermore, a connecting key is arranged on the outer wall of the output shaft of the driving motor, and a corresponding key groove is formed in the inner wall of the mounting groove of the output shaft of the motor.
Furthermore, a key groove is formed in the outer wall of the output shaft of the driving motor, and a corresponding connecting key is arranged on the inner wall of the mounting groove of the output shaft of the motor.
Further, the driving motor is disposed on the base.
The goods handling manipulator comprises a base, a first guide rod, a second guide rod, a guide rod driving device and holding arms, wherein a group of holding arms are arranged in opposite directions, and the guide rod driving device can drive the first holding arm and the second holding arm to synchronously move up and down in the vertical direction and synchronously rotate the first holding arm and the second holding arm in opposite directions or rotate away from each other, so that goods are held tightly or released.
Drawings
Fig. 1 is a schematic structural diagram of a cargo handling robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram illustrating a process of clasping and releasing a first clasping arm and a second clasping arm in a cargo handling manipulator according to an embodiment of the present invention;
fig. 3 is a schematic plane structure diagram of a cargo handling manipulator according to an embodiment of the present invention, when a first arm and a second arm hold a cargo tightly;
fig. 4 is a schematic perspective view of a three-dimensional structure of a cargo handling manipulator according to an embodiment of the present invention when a first arm and a second arm hold a cargo tightly;
fig. 5 is a schematic plan view illustrating a structure of a first arm and a second arm of a cargo handling robot according to an embodiment of the present invention when releasing a cargo;
fig. 6 is a schematic structural view of a second guide rod and a second arm of a cargo handling robot according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
The terms "upper", "lower", "front", "rear", "left" and "right" and the like appearing in the embodiments of the present invention indicate directions or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device referred to must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be a mechanical connection; can be directly connected or indirectly connected through an intermediate medium; the specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
If there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
The cargo handling manipulator of the embodiment of the invention comprises a base 1, a first guide rod, a second guide rod 7, a guide rod driving device and a group of arm-embracing arms as shown in figure 1, wherein each group of arm-embracing arms comprises a first arm-embracing arm and a second arm-embracing arm 8,
guide bar drive arrangement sets up on base 1, first guide bar one end is embraced the arm with first and is connected, the first guide bar other end is connected with guide bar drive arrangement, 7 one ends of second guide bar are embraced arm 8 with the second and are connected, the 7 other ends of second guide bar are connected with guide bar drive arrangement, two are embraced the arm and are set up in opposite directions, be used for the centre gripping goods between two are embraced the arm, guide bar drive arrangement is suitable for through first guide bar, second guide bar 7 drives first armful arm, arm 8 is embraced to the second and reciprocates in the vertical direction in step and makes first armful first guide bar relatively, the second is embraced arm 8 and is rotated or deviates from each other to rotate in step in opposite directions or second guide bar 7 relatively. Specifically, the arm still can set up two sets or more than two sets as required, and every group embraces the interval setting between the arm, and mutual welding or adoption other mode interconnect between second guide bar 7 and the second armful of arm 8. As shown in fig. 2, when the first arm and the second arm 8 need to clamp the goods 10 in the release state, the guide rod driving device drives the first arm and the second arm to rotate synchronously and oppositely through the first guide rod and the second guide rod 7, so that the first arm and the second arm 8 are drawn close to the goods 10, and after the rotation is completed, the guide rod driving device drives the first arm and the second arm 8 to perform linear motion through the first guide rod and the second guide rod 7 until the first arm and the second arm 8 are sufficiently attached to the goods 10, so as to clamp the goods 10 firmly, as shown in fig. 3 and 4. When the first arm and the second arm 8 need to be released in a locked state, the guide rod driving device drives the first arm and the second arm to move linearly through the first guide rod and the second guide rod 7, so that the first arm and the second arm 8 are safely separated from the goods 10, then the first arm and the second arm 8 rotate to deviate from each other, and the safety clearance between the first arm and the second arm 8 and the goods 10 is increased to prepare for complete separation of the goods 10, as shown in fig. 5. According to the embodiment of the invention, the cargo carrying manipulator can be connected with the lifting equipment 2, and the lifting equipment 2 can adopt lifting equipment such as a crown block, a crane or a tower crane, so that the lifting and the transferring of the cargo are finally realized. The goods handling manipulator comprises a base 1, a first guide rod, a second guide rod 7, a guide rod driving device and a holding arm, wherein a group of holding arms are oppositely arranged, the guide rod driving device can drive the first holding arm and the second holding arm 8 to synchronously move up and down in the vertical direction and enable the first holding arm and the second holding arm 8 to synchronously rotate in opposite directions or to rotate away from each other, so that goods are held tightly or released.
Alternatively, as shown in fig. 1, the guide rod driving devices are provided with two guide rod driving devices, the two guide rods and the two embracing arms are of the same structure, the two guide rod driving devices are respectively connected with the first embracing arm and the second embracing arm 8, one of the guide rod driving devices comprises a power device, a driving screw rod 4, a guide rod nut 6 and a guide block 9,
the base 1 is provided with a guide rod hole,
one end of the second guide rod 7, which is far away from the second embracing arm 8, is arranged in the guide rod hole, and the axial center of one end of the second guide rod 7, which is far away from the second embracing arm 8, is provided with a mounting groove, as shown in fig. 6, the outer wall of one end of the second guide rod 7, which is near to the second embracing arm 8, is provided with a guide groove 71, the guide groove 71 extends along the length direction of the second guide rod 7, the guide groove 71 comprises a straight line section and a spiral section, the straight line section is mutually communicated with the spiral section, the straight line section is near to the second embracing arm 8, the spiral section is,
one end of the driving screw rod 4 is a connecting end, the other end is a driving end, the connecting end of the driving screw rod 4 is connected with an output shaft of the power device, the driving end of the driving screw rod 4 extends into the mounting groove, the guide rod nut 6 is connected on the driving screw rod 4 in a threaded manner, the guide rod nut 6 is positioned in the mounting groove, the outer wall of the guide rod nut 6 is connected with the inner wall of the second guide rod 7 in a threaded manner,
the guide block 9 is connected to the base 1 and the guide block 9 is located in the guide groove 71, specifically, one end of the guide block 9 passes through the guide rod hole wall on the base 1 and extends into the guide groove 71, and the other end of the guide block 9 is connected with the base 1 through a screw. When needing centre gripping goods 10, power device drives drive screw 4 and rotates to make guide bar nut 6 drive the relative base 1 of second guide bar 7 and upwards remove, because guide block 9 and guide way 71's interact, the second is embraced arm 8 and is rotated to first armful of arm direction, first armful of arm is synchronous to the 8 direction rotations of second armful of arm, make first armful of arm, second armful of arm 8 draws close to goods 10, first armful of arm after the rotatory action, second armful of arm 8 carries out linear motion, until first armful of arm, second armful of arm 8 and goods 10 fully laminate firmly the centre gripping of goods 10. Because the guide bar drive arrangement is provided with two, two guide bar drive arrangement embrace the arm with first respectively, the second is connected, make first armful arm, second embrace arm 8 and realize independent control, for single drive synchro control, greatly reduced structure complexity. In addition, compared with single-drive-source double-drive, the double-drive-source double-arm clamp avoids the problem that the two arms have successive phase differences in action, so that the arms clamp goods more stably; in addition, the power device drives the second guide rod to move through the spiral transmission system, the machining process is simple, and the manufacturing cost is low.
Alternatively, the power device is a driving motor 3, and the driving motor 3 is disposed on the base 1. In particular, an electric motor or a hydraulic motor can be used.
When the driving motor 3 is an electric motor, the locking and the releasing are in place, after the second guide rod 7 and the second holding arm 8 extend and retract to mechanical limit, the current of the electric system rises, and the work and the stop of the electric motor are controlled through current increment; when the driving motor 3 is a hydraulic motor, after the second guide rod 7 and the second arm 8 extend and retract to be mechanically limited, the pressure of the hydraulic system rises, and the driving motor 3 is controlled to work and stop through pressure increment, so that automatic control is finally realized.
Alternatively, as shown in fig. 1, the connecting end of the driving screw 4 is located in the driving rod hole, and a lubricating sleeve 5 is arranged between the connecting end of the driving screw 4 and the driving rod hole wall, wherein the lubricating sleeve 5 is made of copper. Due to the arrangement of the lubricating sleeve 5, the friction force between the driving screw rod 4 and the hole wall of the driving rod is reduced.
Optionally, a motor output shaft mounting groove is formed in the connecting end of the driving screw rod 4, the output shaft of the driving motor 3 is arranged in the motor output shaft mounting groove, and the output shaft of the driving motor 3 is in key connection with the motor output shaft mounting groove. Specifically, a connecting key is arranged on the outer wall of the output shaft of the driving motor 3, and a corresponding key groove is formed in the inner wall of the motor output shaft mounting groove, or the outer wall of the output shaft of the driving motor 3 is provided with a key groove, and a corresponding connecting key is arranged in the inner wall of the motor output shaft mounting groove.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A cargo handling manipulator is characterized in that,
comprises a base (1), a first guide rod, a second guide rod (7), a guide rod driving device and at least one group of embracing arms, wherein each group of embracing arms comprises a first embracing arm and a second embracing arm (8),
guide bar drive arrangement set up in on base (1), first guide bar one end with the first arm of embracing is connected, the first guide bar other end with guide bar drive arrangement connects, second guide bar (7) one end with arm (8) are embraced to the second and are connected, second guide bar (7) other end with guide bar drive arrangement connects, two embrace arm (8) and set up in opposite directions, two embrace and be used for the centre gripping goods between arm (8), guide bar drive arrangement is suitable for to pass through first guide bar second guide bar (7) drive first embrace the arm the second embrace arm (8) and reciprocate in the vertical direction in step and relative first guide bar second guide bar (7) rotate in step in opposite directions or deviate from each other and rotate.
2. The cargo handling robot of claim 1,
the two guide rod driving devices are arranged and have the same structure, one of the two guide rod driving devices comprises a power device, a driving screw rod (4), a guide rod nut (6) and a guide block (9),
the base (1) is provided with a guide rod hole,
one end, far away from the second holding arm (8), of the second guide rod (7) is arranged in the guide rod hole, an installation groove is formed in the axial center, far away from one end of the second holding arm (8), of the second guide rod (7), a guide groove (71) is formed in the outer wall, close to one end of the second holding arm (8), of the second guide rod (7), the guide groove (71) extends along the length direction of the second guide rod (7), the guide groove (71) comprises a straight line section and a spiral section, the straight line section is communicated with the spiral section, the straight line section is close to the second holding arm (8), and the spiral section is far away from the second holding arm (8),
one end of the driving screw rod (4) is a connecting end, the other end of the driving screw rod is a driving end, the connecting end of the driving screw rod (4) is connected with an output shaft of the power device, the driving end of the driving screw rod (4) extends into the mounting groove, the guide rod nut (6) is in threaded connection with the driving screw rod (4), the guide rod nut (6) is located in the mounting groove, the outer wall of the guide rod nut (6) is in threaded connection with the inner wall of the second guide rod (7),
the guide block (9) is connected to the base (1) and the guide block (9) is located in the guide groove (71).
3. The manipulator according to claim 2, wherein one end of the guide block (9) extends into the guide groove (71) through the hole wall of the guide rod hole on the base (1), and the other end of the guide block (9) is connected with the base (1) through a screw.
4. The load handling manipulator according to claim 2, wherein the power means is a drive motor (3).
5. The manipulator according to claim 4, wherein the connecting end of the drive screw (4) is located in the drive rod bore, and a lubrication sleeve (5) is provided between the connecting end of the drive screw (4) and the drive rod bore wall.
6. The load-handling manipulator according to claim 5, characterized in that the lubricating sleeve (5) is made of copper.
7. The manipulator as claimed in claim 5, wherein the connecting end of the driving screw (4) is provided with a motor output shaft mounting groove, the output shaft of the driving motor (3) is arranged in the motor output shaft mounting groove, and the output shaft of the driving motor (3) is connected with the motor output shaft mounting groove in a key manner.
8. The manipulator as claimed in claim 7, wherein the drive motor (3) has a connecting key on the outer wall of its output shaft, and a corresponding key slot is provided on the inner wall of the mounting groove of the motor output shaft.
9. The manipulator as claimed in claim 7, wherein the drive motor (3) has a key slot on its outer wall, and a corresponding connecting key is provided on the inner wall of the mounting slot.
10. The load handling manipulator according to claim 1, wherein the drive motor (3) is provided on the base (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011229063.6A CN112318538B (en) | 2020-11-06 | 2020-11-06 | Cargo handling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011229063.6A CN112318538B (en) | 2020-11-06 | 2020-11-06 | Cargo handling manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112318538A true CN112318538A (en) | 2021-02-05 |
| CN112318538B CN112318538B (en) | 2022-08-02 |
Family
ID=74315455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011229063.6A Active CN112318538B (en) | 2020-11-06 | 2020-11-06 | Cargo handling manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112318538B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1713798A1 (en) * | 1989-02-21 | 1992-02-23 | Московское Производственное Объединение "Станкостроительный Завод" Им.Серго Орджоникидзе | Gripper for automatic operators |
| CN106115542A (en) * | 2016-06-20 | 2016-11-16 | 天津中电达人智能科技有限公司 | A kind of lowering or hoisting gear |
| CN106863337A (en) * | 2017-04-07 | 2017-06-20 | 宁新元 | A kind of dustbin manipulator |
| CN207206418U (en) * | 2017-09-28 | 2018-04-10 | 苏州恒嘉晶体材料有限公司 | A kind of sapphire crystal fixture |
| CN108481357A (en) * | 2018-03-22 | 2018-09-04 | 陈阳 | A kind of electricapparatus hand for work pieces process transhipment |
| CN109677905A (en) * | 2018-12-04 | 2019-04-26 | 盐城汇金科技信息咨询服务有限公司 | A kind of manipulator and method for carrying of intelligent material conveying |
| CN110039565A (en) * | 2018-12-28 | 2019-07-23 | 长沙长泰机器人有限公司 | A kind of material gripping device and robot |
| CN210122421U (en) * | 2019-03-04 | 2020-03-03 | 铜陵松宝智能装备股份有限公司 | A manipulator and cone winder for cone winder snatchs and puts in cop |
| CN211761510U (en) * | 2020-04-01 | 2020-10-27 | 辽宁机电职业技术学院 | Manipulator anchor clamps that shift |
-
2020
- 2020-11-06 CN CN202011229063.6A patent/CN112318538B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1713798A1 (en) * | 1989-02-21 | 1992-02-23 | Московское Производственное Объединение "Станкостроительный Завод" Им.Серго Орджоникидзе | Gripper for automatic operators |
| CN106115542A (en) * | 2016-06-20 | 2016-11-16 | 天津中电达人智能科技有限公司 | A kind of lowering or hoisting gear |
| CN106863337A (en) * | 2017-04-07 | 2017-06-20 | 宁新元 | A kind of dustbin manipulator |
| CN207206418U (en) * | 2017-09-28 | 2018-04-10 | 苏州恒嘉晶体材料有限公司 | A kind of sapphire crystal fixture |
| CN108481357A (en) * | 2018-03-22 | 2018-09-04 | 陈阳 | A kind of electricapparatus hand for work pieces process transhipment |
| CN109677905A (en) * | 2018-12-04 | 2019-04-26 | 盐城汇金科技信息咨询服务有限公司 | A kind of manipulator and method for carrying of intelligent material conveying |
| CN110039565A (en) * | 2018-12-28 | 2019-07-23 | 长沙长泰机器人有限公司 | A kind of material gripping device and robot |
| CN210122421U (en) * | 2019-03-04 | 2020-03-03 | 铜陵松宝智能装备股份有限公司 | A manipulator and cone winder for cone winder snatchs and puts in cop |
| CN211761510U (en) * | 2020-04-01 | 2020-10-27 | 辽宁机电职业技术学院 | Manipulator anchor clamps that shift |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112318538B (en) | 2022-08-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107081592B (en) | A kind of automatic assembling apparatus of shift transposition component | |
| CN112318538B (en) | Cargo handling manipulator | |
| CN212071779U (en) | Pin pulling device | |
| CN109605065B (en) | Part clamping device | |
| CN217521846U (en) | Automatic change winding system | |
| CN211517538U (en) | Gear rack lifting type joint mechanical arm | |
| CN215149198U (en) | Mechanical arm for automobile mechanical electronic assembly | |
| CN112248012B (en) | Engineering manipulator convenient for steel pipe transportation and stable | |
| CN111469148A (en) | Battery module turning device and battery module production system | |
| CN210968634U (en) | Electric motor car part production anchor clamps | |
| CN215749246U (en) | Robot quick-change structure | |
| CN214141379U (en) | Equipment shifting device | |
| CN210001164U (en) | transfer manipulator for plastic product production | |
| CN210389069U (en) | Battery module disassembling tool | |
| CN210122421U (en) | A manipulator and cone winder for cone winder snatchs and puts in cop | |
| CN220204582U (en) | High strength drive gear forging | |
| CN213532140U (en) | Honing tool magazine | |
| CN218802347U (en) | Efficient multi-station clamping robot arm | |
| CN216234784U (en) | Automatic pick-and-place synchronizing device | |
| CN214352078U (en) | Electro-hydraulic hybrid open spanner | |
| CN110856931A (en) | Telescopic combined mechanical arm | |
| CN218746078U (en) | Automatic mounting device of full-suspension type rudderstock nut | |
| CN112297043B (en) | Multifunctional manipulator | |
| CN218642292U (en) | Tube bundle hoisting tool | |
| CN215883375U (en) | Clamping jaw and grabbing device of battery pack of battery replacing station |
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 |