CN112697324B - Air suction type electric propeller micro impulse measuring platform - Google Patents
Air suction type electric propeller micro impulse measuring platform Download PDFInfo
- Publication number
- CN112697324B CN112697324B CN202011474261.9A CN202011474261A CN112697324B CN 112697324 B CN112697324 B CN 112697324B CN 202011474261 A CN202011474261 A CN 202011474261A CN 112697324 B CN112697324 B CN 112697324B
- Authority
- CN
- China
- Prior art keywords
- plate
- swinging mechanism
- propeller
- force sensor
- air
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0052—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes measuring forces due to impact
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The invention discloses a suction type electric propeller micro-impulse measuring platform which comprises a frame, a swinging mechanism, a force sensor, an LVDT displacement sensor and an electromagnetic push rod, wherein the top end of the frame is provided with a square hole, the bottom end of the swinging mechanism is connected with the bottom of the frame, and the top end of the swinging mechanism extends out of the square hole; the force sensor is arranged on one side of the swinging mechanism, the LVDT displacement sensor is arranged on the other side of the swinging mechanism, the electromagnetic push rod is arranged on one side of the force sensor, which is far away from the swinging mechanism, and the position of the electromagnetic push rod corresponds to that of the force sensor; the swing mechanism is provided with an air suction type propeller which is communicated with an air pipe; and the top of the frame is provided with a capacitor which is electrically connected with the air suction type propeller through a cable. The invention is based on an impact pendulum method, indirectly measures impulse by utilizing the principle that the same impulse generates the same maximum displacement, designs a reasonable mechanical structure for placing circuits, gas circuits, sensors and the like, and reduces interference sources.
Description
Technical Field
The invention belongs to the technical field of performance monitoring of space propellers, and particularly relates to a micro impulse measuring platform of an air-breathing electric propeller.
Background
The air-breathing pulse plasma thruster is mainly used for adjusting the pose of the atmospheric space orbital vehicle. The self-loading is low, the service life is long, the specific impulse is large and the like, so that the method has a good application prospect in the spacecraft for the dead space orbit monitoring.
In order to better optimize the propeller performance, the minute impulse it generates needs to be accurately measured. However, the electric thruster has small thrust (10N magnitude), short acting time (1 mu s magnitude), very high requirement on the force sensor for measuring impulse in a conventional mode, very high cost and difficult realization of the current conditions.
Therefore, how to provide a micro-impulse measurement platform for an air-breathing electric propeller is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a micro impulse measurement platform of an air-breathing electric propeller, which is based on an impulse pendulum method, indirectly measures impulse by using the principle that the same impulse generates the same maximum displacement, and designs a reasonable mechanical structure for placing circuits, air channels, sensors and the like so as to reduce interference sources.
In order to achieve the purpose, the invention adopts the following technical scheme:
an air-breathing electric propeller micro-impulse measuring platform, comprising: the device comprises a frame, a swinging mechanism, a force sensor, an LVDT displacement sensor and an electromagnetic push rod, wherein a square hole is formed in the top end of the frame, the bottom end of the swinging mechanism is connected with the LVDT displacement sensor, the top end of the swinging mechanism extends out of the square hole, and the extending end of the swinging mechanism is supported by the frame; the force sensor is arranged on one side of the swinging mechanism, the LVDT displacement sensor is arranged on the other side of the swinging mechanism, the electromagnetic push rod is arranged on one side of the force sensor, which is far away from the swinging mechanism, and the position of the electromagnetic push rod corresponds to that of the force sensor; an air suction type propeller is arranged on the swing mechanism, and the air suction type propeller is communicated with an air pipe; and a capacitor is installed at the top of the frame and is electrically connected with the air suction type propeller through a cable.
Preferably, the frame comprises a top plate, a bottom plate and a support column, and the top plate and the bottom plate are connected through the support column.
Preferably, four support columns are arranged, two of the four support columns are arranged at the corners of the bottom plate, and the other two support columns are located on the same plane as the rest position of the swing mechanism and used for fixing cables led out by the force sensors in an overlapping mode.
Preferably, swing mechanism is including taking support plate, U template, connecting rod, limiting plate and circular cone, wherein, take the support plate set up in the bottom plate top, the U template is installed take the top of support plate, the connecting rod bottom with the U template links to each other, and the top is stretched out by the quad slit, stretch out the end with the limiting plate links to each other, the circular cone is all installed to the bottom of limiting plate both sides, the circular cone is located the roof top.
Preferably, the two sides of the carrying plate are both provided with insulating plates, the shaft core of the LVDT displacement sensor is connected to one of the insulating plates, one side of the other insulating plate, which is far away from the carrying plate, is provided with a bearing plate, and the force sensor is arranged on the bearing plate.
Preferably, the suction type propeller is mounted on the carrying plate through a propeller lower clamp and a propeller upper clamp.
Preferably, a counterweight is mounted on the carrying plate.
Preferably, the top end of the top plate is provided with a wear-resisting plate, the cone and the wear-resisting plate form a point-surface kinematic pair, and the cone point falls on the spherical crown type curved surface in the middle of the wear-resisting plate.
Preferably, the top plate is symmetrically provided with guide plates, and the cable and the air pipe are respectively positioned on the same plane with the swing mechanism through the two guide plates and are fixed on a connecting rod of the swing mechanism.
Preferably, the connecting rod is internally designed in a hollow structure.
The invention has the beneficial effects that:
the measuring platform has simple structure and convenient installation and debugging; after one measurement is finished, the balance position can be slowly recovered, and the use is convenient; the two cones and the limiting plate form a cone swing pair, and compared with a plurality of cone swing pairs, the movement resistance caused by matching errors among the swing pairs is not considered; the friction of the conical swing pair is extremely small, and the measurement precision can be improved; the swing mechanism has smaller self mass and can carry heavier propellers; the length of the connecting rod is increased in the vertical direction, so that the measurement of smaller impulse can be realized; the guide plate is added, the cable and the air path are fixed on the swing mechanism, and disturbance can be greatly reduced; the U-shaped plate capable of greatly adjusting the mass center of the carrying flat plate assembly is added, and the position of the mass center can be adjusted at the minimum mass by matching with the balance weight; the suitability is strong, can be applicable to the propeller under any atmospheric pressure environment and measure.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of the structure of the present invention in the left direction.
Fig. 2 is a schematic structural diagram in the right direction of the invention.
Fig. 3 is an exploded view of a part of the assembly of the swing mechanism of the present invention.
1-capacitance; 2-a suction propeller; 3-a force sensor; 4-LVDT displacement sensors; 5-an electromagnetic push rod; 6-a top plate; 7-a bottom plate; 8-a support column; 9-a guide plate; 10-a wear plate; 11-cone; 12-a limiting plate; 13-a connecting rod; 14-U-shaped plates; 15-carrying a plate; 16-a thruster upper fixture; 17-a lower clamp of the thruster; 18-a counterweight; 19-an insulating plate; 20-a bearing plate; 21-an electromagnetic push rod fixing plate; 22-LVDT fixed plate; 23-a cathode cable; 24-an anode cable; 25-trachea.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a micro-impulse measurement platform of an air-breathing propeller 2, comprising: the device comprises a frame, a swinging mechanism, a force sensor 3, an LVDT displacement sensor 4 and an electromagnetic push rod 5, wherein a square hole is formed in the top end of the frame, the bottom end of the swinging mechanism is connected with the LVDT displacement sensor 4, the top end of the swinging mechanism extends out of the square hole, and the extending end of the swinging mechanism is supported by the frame; the force sensor 3 is arranged on one side of the swing mechanism, the LVDT displacement sensor 4 is arranged on the other side of the swing mechanism, and the electromagnetic push rod 5 is arranged on one side of the force sensor 3, which is far away from the swing mechanism, and the position of the electromagnetic push rod corresponds to that of the force sensor 3; the LVDT displacement sensor 4 is used for measuring the horizontal displacement of the measuring platform; the swing mechanism is provided with an air suction type propeller 2, and the air suction type propeller 2 is communicated with an air pipe 25; the electric capacity 1 is installed at the frame top, and electric capacity 1 is connected with air-breathing propeller 2 electricity through the cable, and electric capacity 1 supplies power for air-breathing propeller 2 through the cable, and trachea 25 provides ionization medium for air-breathing propeller 2, and wherein, the cable includes cathode cable 23 and positive pole cable 24.
The frame comprises a top plate 6, a bottom plate 7 and support posts 8, wherein the top plate 6 and the bottom plate 7 are connected through the support posts 8. The top plate 6, the bottom plate 7 and the support columns 8 are all made of stainless steel structures. The support columns 8 are four, two of the support columns are arranged at the corners of the bottom plate 7, the other two planes are located on the same plane with the rest positions of the swinging mechanisms and used for lapping cables led out by the fixed force sensors 3, and disturbance of cable swinging on measurement results in the measurement process can be reduced. The two ends of the four support columns 8 are respectively provided with 50mm external threads and matched with 12 nuts for fastening the structure, so that the levelness of the top plate 6 and the flatness below the bottom plate 7 are ensured.
Referring to fig. 3, the swing mechanism includes a carrying plate 15, a U-shaped plate 14, a connecting rod 13, a limiting plate 12 and a cone 11, wherein the carrying plate 15 is disposed above the bottom plate 7, the U-shaped plate 14 is mounted on the top of the carrying plate 15, the bottom end of the connecting rod 13 is connected to the U-shaped plate 14, the top end of the connecting rod extends out of a square hole, the extending end of the connecting rod is connected to the limiting plate 12, the cones 11 are mounted at the bottom ends of two sides of the limiting plate 12, and the cone 11 is located above the top plate 6. The two cones 11 and the limiting plate 12 form a cone 11 swing pair, so that the measuring platform moves in a single-plane swing mode. The design of square hole can guarantee that swing mechanism's connecting rod 13 does not have the interference swing. The U-shaped plate 14 is used for adjusting the position of the mass center of the assembled part of the carrying plate 15 for assembling the upper propeller, and ensuring that the mass center is located on the swinging plane.
The two sides of the carrying plate 15 are provided with insulating plates 19, the shaft core of the LVDT displacement sensor 4 is connected to one of the insulating plates 19, one side of the other insulating plate 19 far away from the carrying plate 15 is provided with a bearing plate 20, and the force sensor 3 is arranged on the bearing plate 20. The bottom plate 7 is provided with threaded holes for fixing the electromagnetic push rod fixing plate 21 and the LVDT fixing plate 22. The electromagnetic push rod 5 is arranged on the electromagnetic push rod fixing plate 21; the LVDT displacement sensor 4 is installed on the LVDT fixing plate 22, and the electromagnetic push rod fixing plate 21 and the LVDT fixing plate 22 are both made of polypropylene. The insulation plate 19 ensures that the LVDT displacement sensor 4 and the force sensor 3 are not broken down by electric leakage, and the bearing plate 20 ensures that energy is not absorbed, so that the accuracy of the measurement data of the force sensor 3 is improved.
In this embodiment, the suction type propeller 2 is mounted on the mounting plate 15 by the propeller upper jig 16 and the propeller lower jig 17. The upper propeller clamping tool 16 and the lower propeller clamping tool 17 are made of polypropylene materials, so that the discharge of the propeller electrodes is avoided.
In this embodiment, the carrying plate 15 is provided with the counterweight 18, and the position of the center of mass of the whole swing mechanism is finely adjusted by the counterweight 18 on the carrying plate 15, so as to ensure that the center of mass falls on the vertical central axis of the swing mechanism.
In this implementation, antifriction plate 10 is installed on the top of roof 6, and antifriction plate 10 adopts the brass material, and threaded hole is opened at both ends, and is fixed with roof 6, and there is spherical crown type curved surface in the centre, and circular cone 11 and antifriction plate 10 constitute some face motion pairs, and the cone point falls on the spherical crown type curved surface in the middle of the antifriction plate 10.
In this embodiment, the top plate 6 is symmetrically provided with guide plates 9, the guide plates 9 are made of polypropylene, a round hole is reserved in the middle of each guide plate 9, and the cable and the air pipe 25 can be fixed by using a rubber protective coil. The cable and the air pipe 25 are respectively positioned on the same plane with the swing mechanism through the circular holes of the two guide plates 9 and are fixed on the connecting rod 13 of the swing mechanism.
In this embodiment, connecting rod 13 is stainless steel pipe, and there is the external screw thread at both ends for fixed with limiting plate 12 and U template 14, inside hollow structure design that adopts reduces its quality under guaranteeing bending strength.
In the invention, the electromagnetic push rod 5 acts on the force sensor 3 with different thrusts, and the relationship between impulse and displacement is established through the data of the force sensor 3 and the LVDT displacement sensor 4. The impulse data can be converted by using the data of the LVDT displacement sensor 4 in the working state of the air suction type propeller 2, so that the impulse of the air suction type propeller 2 can be measured.
The measuring platform has simple structure and convenient installation and debugging; after one measurement is finished, the balance position can be slowly recovered, and the use is convenient; the two cones and the limiting plate form a cone swing pair, and compared with a plurality of cone swing pairs, the movement resistance caused by matching errors among the swing pairs is not considered; the friction of the conical swing pair is extremely small, and the measurement precision can be improved; the swing mechanism has smaller self mass and can carry heavier propellers; the length of the connecting rod is increased in the vertical direction, so that the measurement of smaller impulse can be realized; the guide plate is added, the cable and the air path are fixed on the swing mechanism, and disturbance can be greatly reduced; the U-shaped plate capable of greatly adjusting the mass center of the carrying flat plate assembly is added, and the position of the mass center can be adjusted at the minimum mass by matching with the balance weight; the applicability is strong, and the device can be suitable for propeller measurement in any air pressure environment; when the axial line of the shaft core of the LVDT displacement sensor is 550mm away from the top plate and the mass of the thruster is 400g, the invention can accurately measure the impulse of 1 MuN.s grade.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. The utility model provides a little impulse measuring platform of formula of breathing in electric propulsion ware which characterized in that includes: the device comprises a frame, a swinging mechanism, a force sensor, an LVDT displacement sensor and an electromagnetic push rod, wherein a square hole is formed in the top end of the frame, the bottom end of the swinging mechanism is connected with the LVDT displacement sensor, the top end of the swinging mechanism extends out of the square hole, and the extending end of the swinging mechanism is supported by the frame; the force sensor is arranged on one side of the swinging mechanism, the LVDT displacement sensor is arranged on the other side of the swinging mechanism, the electromagnetic push rod is arranged on one side of the force sensor, which is far away from the swinging mechanism, and the position of the electromagnetic push rod corresponds to that of the force sensor; an air suction type propeller is arranged on the swing mechanism, and the air suction type propeller is communicated with an air pipe; a capacitor is mounted at the top of the frame and is electrically connected with the air suction type propeller through a cable;
the frame comprises a top plate and a bottom plate;
the swinging mechanism comprises a carrying plate, a U-shaped plate, a connecting rod, a limiting plate and a cone, wherein the carrying plate is arranged above the bottom plate, the U-shaped plate is arranged at the top of the carrying plate, the bottom end of the connecting rod is connected with the U-shaped plate, the top end of the connecting rod extends out of a square hole, the extending end of the connecting rod is connected with the limiting plate, the cones are arranged at the bottom ends of two sides of the limiting plate, and the cones are positioned above the top plate;
the wear-resisting plate is installed on the top end of the top plate, the circular cone and the wear-resisting plate form a point-surface kinematic pair, and a cone point falls on the spherical crown type curved surface in the middle of the wear-resisting plate.
2. An air breathing electric thruster micro impulse measurement platform as claimed in claim 1, wherein the frame comprises support posts by which the top plate and the bottom plate are connected.
3. The suction electric propeller micro-impulse measurement platform as claimed in claim 2, wherein four support columns are provided, two of the four support columns are installed at the corners of the base plate, and the other two support columns are located on the same plane as the rest position of the swing mechanism and are used for fixing a cable led out from the force sensor in an overlapping manner.
4. The air-breathing electric propeller micro-impulse measuring platform of claim 1, wherein the two sides of the carrying plate are provided with insulating plates, the shaft core of the LVDT displacement sensor is connected to one of the insulating plates, one side of the other insulating plate far away from the carrying plate is provided with a bearing plate, and the force sensor is arranged on the bearing plate.
5. An aspirating electric thruster micro-impulse measurement platform according to claim 1, wherein said aspirating thruster is mounted on said carrying plate by means of a thruster lower fixture and a thruster upper fixture.
6. An air-breathing electric propeller micro-impulse measurement platform as claimed in claim 1, wherein said carrying plate has a counterweight mounted thereon.
7. The micro-impulse measurement platform of an air-breathing electric propeller as claimed in claim 1, wherein the top plate is symmetrically distributed with guide plates, and the cable and the air pipe are respectively positioned on the same plane with the swing mechanism through the two guide plates and fixed on the connecting rod of the swing mechanism.
8. The air-breathing electric propeller micro-impulse measurement platform of claim 1, wherein the connecting rod is designed with a hollow structure inside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011474261.9A CN112697324B (en) | 2020-12-14 | 2020-12-14 | Air suction type electric propeller micro impulse measuring platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011474261.9A CN112697324B (en) | 2020-12-14 | 2020-12-14 | Air suction type electric propeller micro impulse measuring platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112697324A CN112697324A (en) | 2021-04-23 |
| CN112697324B true CN112697324B (en) | 2021-09-14 |
Family
ID=75507966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011474261.9A Active CN112697324B (en) | 2020-12-14 | 2020-12-14 | Air suction type electric propeller micro impulse measuring platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112697324B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1059450A1 (en) * | 1982-02-03 | 1983-12-07 | Государственный Ордена Трудового Красного Знамени Научно-Исследовательский Институт Гражданской Авиации | Device for measuring turbo-jet engine thrust |
| CN101231202A (en) * | 2008-02-22 | 2008-07-30 | 哈尔滨工业大学 | Dry friction damper for electric thruster thrust surveying system |
| CN103335769A (en) * | 2013-07-03 | 2013-10-02 | 中国科学院力学研究所 | Weak force measuring device for electric thruster |
| CN107091705A (en) * | 2017-05-22 | 2017-08-25 | 河南理工大学 | A kind of Micromass cell culture method and device |
| CN207263362U (en) * | 2017-09-14 | 2018-04-20 | 上海怀德机电有限公司 | A kind of device for measuring micro-thrust |
| CN108036888A (en) * | 2017-11-24 | 2018-05-15 | 电子科技大学 | Micromass cell culture device based on torsional pendulum type |
-
2020
- 2020-12-14 CN CN202011474261.9A patent/CN112697324B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1059450A1 (en) * | 1982-02-03 | 1983-12-07 | Государственный Ордена Трудового Красного Знамени Научно-Исследовательский Институт Гражданской Авиации | Device for measuring turbo-jet engine thrust |
| CN101231202A (en) * | 2008-02-22 | 2008-07-30 | 哈尔滨工业大学 | Dry friction damper for electric thruster thrust surveying system |
| CN103335769A (en) * | 2013-07-03 | 2013-10-02 | 中国科学院力学研究所 | Weak force measuring device for electric thruster |
| CN107091705A (en) * | 2017-05-22 | 2017-08-25 | 河南理工大学 | A kind of Micromass cell culture method and device |
| CN207263362U (en) * | 2017-09-14 | 2018-04-20 | 上海怀德机电有限公司 | A kind of device for measuring micro-thrust |
| CN108036888A (en) * | 2017-11-24 | 2018-05-15 | 电子科技大学 | Micromass cell culture device based on torsional pendulum type |
Non-Patent Citations (1)
| Title |
|---|
| 用于脉冲微推力器的枢轴式微冲量测量系统设计方法;金星 等;《红外与激光工程》;20190430;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112697324A (en) | 2021-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208569001U (en) | A kind of detection device for lithium battery group | |
| CN112697324B (en) | Air suction type electric propeller micro impulse measuring platform | |
| CN102323454A (en) | Fixture for fuel cell test and assembling method thereof | |
| CN102043103B (en) | Pressure device for testing loop resistance of sealed pole | |
| CN209094798U (en) | A kind of pressing tool and auxiliary welding equipment | |
| CN101964501B (en) | Assembly correcting device of circuit breaker barrel of gas insulating metal seal switch equipment | |
| CN103323508A (en) | Test conjoined electrolytic bath provided with assisted ventilation chamber | |
| CN110186967B (en) | Three-electrode detection device | |
| CN109613433B (en) | New energy battery pressure resistance testing arrangement | |
| CN201382808Y (en) | Weighing device for movable charging bucket | |
| CN212063534U (en) | New energy battery energy storage power transformation integrated equipment | |
| CN217211376U (en) | Mechanical life testing device for operating mechanism | |
| CN108614232B (en) | Calibration tool for automatic calibration system of formation and grading test power supply | |
| CN216750188U (en) | Small-size lithium cell convenient to dismouting | |
| CN216120695U (en) | Portable ultra-bandwidth high-gain discone antenna | |
| CN216526198U (en) | Auxiliary device for testing all-solid-state battery | |
| CN210575845U (en) | Solar cell test equipment | |
| CN109541265A (en) | A kind of side's shell electrokinetic cell fixture | |
| CN220544979U (en) | Novel solar cell test fixture | |
| CN218062538U (en) | Hanging basket device for lightning protection detection of wind turbine generator blade | |
| CN216978681U (en) | Lead accumulator plate performance detection device | |
| CN219123283U (en) | Device for carrying out voltage equalization on square lithium battery module monomers | |
| CN218215524U (en) | Lithium battery convenient to disassemble and assemble | |
| CN219122360U (en) | Press-fit type battery pack voltage internal resistance testing mechanism | |
| CN219194349U (en) | Deflection preventing structure, single sleeve guiding device and jacking equipment |
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 |