CN113246106B - Robot rocker and multi-axis robot - Google Patents
Robot rocker and multi-axis robot Download PDFInfo
- Publication number
- CN113246106B CN113246106B CN202110682961.5A CN202110682961A CN113246106B CN 113246106 B CN113246106 B CN 113246106B CN 202110682961 A CN202110682961 A CN 202110682961A CN 113246106 B CN113246106 B CN 113246106B
- Authority
- CN
- China
- Prior art keywords
- clamping groove
- rocker arm
- robot
- reinforcement
- robotic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot rocker arm and a multi-axis robot, and mainly relates to the field of manipulators. The robot rocker arm comprises a rocker arm frame and a reinforcing member; the rocker arm frame is provided with a top plate and a bottom plate which are parallel to each other; the top plate is provided with a top clamping groove extending along the x direction, and the positive z direction side of the top clamping groove extends along the positive y direction and the negative y direction relative to the opening end of the top clamping groove to form a clamping groove structure; the bottom plate is provided with a bottom clamping groove extending along the x direction, and the z negative direction side of the bottom clamping groove extends along the y positive direction and the y negative direction relative to the opening end of the bottom clamping groove respectively to form a clamping groove structure; the reinforcement includes top connection end, end connection end and connecting portion, and the cooperation of top connection end is in the draw-in groove structure of top draw-in groove, and end connection end sliding fit is in the draw-in groove structure of end draw-in groove. Through the modular design of the robot rocker arm structure, the function of adjusting the weight of the robot rocker arm is realized, and the purpose of adjusting the maximum speed of the tail end of the robot rocker arm according to the working condition is achieved.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a robot rocker arm and a multi-axis robot.
Background
When a manufacturer purchases a robot, the robot with corresponding load capacity can be purchased according to actual requirements. In actual investigation, it is found that, for some small and medium-sized factories, only a robot with a large partial load capacity is generally purchased in consideration of the purchase cost, and the robot is flexibly used in various links according to actual requirements.
According to the motion principle, under the precondition of ensuring the tail end positioning performance of the robot, the maximum running speed of the robot is influenced by the weight of the motion structure of the robot including the self weight of the mechanical arm, and in a low-load use scene, the proportion of the self weight of the mechanical arm in the motion structure is large, so that the improvement of the tail end speed of the mechanical arm is severely limited.
Disclosure of Invention
In order to enable the robot to fully exert the performance under various load scenes, the invention provides a robot rocker arm and a multi-axis robot.
Correspondingly, the invention provides a robot rocker arm, which comprises a rocker arm frame and a reinforcing member;
the rocker arm frame is provided with a top plate and a bottom plate which are parallel to each other, and two ends of the top plate and two ends of the bottom plate are respectively connected through side plates;
the top plate is provided with a top clamping groove extending along the x direction, one z-negative direction side of the top clamping groove is an opening end of the top clamping groove, and the z positive direction side of the top clamping groove extends along the y positive direction and the y negative direction relative to the opening end of the top clamping groove to form a clamping groove structure;
the bottom plate is provided with a bottom clamping groove extending along the x direction, one z positive side of the bottom clamping groove is a bottom clamping groove opening end, and one z negative side of the bottom clamping groove extends along the y positive direction and the y negative direction relative to the bottom clamping groove opening end to form a clamping groove structure;
the reinforcement includes top link, end link and connecting portion, top link and end link pass through connecting portion connect, the cooperation of top link is in the draw-in groove structure of top draw-in groove, end link sliding fit is in the draw-in groove structure of end draw-in groove.
In an alternative embodiment, the y-direction dimension of the connecting portion is smaller than the smaller of the y-direction dimension of the open end of the top card slot and the y-direction dimension of the open end of the bottom card slot;
or the y-direction size of the connecting part is equal to the smaller of the y-direction size of the opening end of the top card slot and the y-direction size of the opening end of the bottom card slot.
In an optional embodiment, at least one set of mounting ports is arranged on the y positive direction of the rocker arm frame, and/or at least one set of mounting ports is arranged on the y negative direction of the rocker arm frame;
and the mounting openings comprise a top mounting opening and a bottom mounting opening, and the mounting openings are matched with the reinforcing members.
In an optional embodiment, the top card slot and the bottom card slot have equal length in the x direction, and the starting positions are the same in the x direction;
the length of the top clamping groove and the length of the bottom clamping groove in the x direction are both x 0.
In alternative embodiments, the type of reinforcement comprises a first reinforcement; the first stiffener x-direction length is x 1;
x0 is an integer multiple of x 1.
In an alternative embodiment, the type of reinforcement further comprises a second reinforcement;
the x-direction length of the second stiffener is less than the x-direction length of the first stiffener.
In an alternative embodiment, the x-direction length of the second stiffener is one-half of the x-direction length of the first stiffener.
In an alternative embodiment, the reinforcement member has mounting holes arranged in the y-direction.
In an alternative embodiment, any of the stiffeners is divided into front stiffeners and rear stiffeners based on a dividing plane parallel to the xz plane.
Correspondingly, the invention provides a multi-axis robot, which comprises the robot rocker arm.
In summary, the embodiment of the invention provides a robot rocker arm and a robot, and the function of adjusting the weight of the robot rocker arm is realized through the modular design of the structure of the robot rocker arm, so as to achieve the purpose of adjusting the maximum speed of the tail end of the robot rocker arm according to the working condition; correspondingly, the robot has the function of adjusting the load and the weight of the movement mechanism according to the load, and the maximum speed of the tail end of the robot can be flexibly adjusted according to the actual working condition.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram of a robot rocker arm according to an embodiment of the invention.
Fig. 2 is a schematic three-dimensional structure diagram of a swing arm frame according to an embodiment of the present invention.
Fig. 3 is a schematic three-dimensional structure of a reinforcing member according to an embodiment of the present invention.
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.
Fig. 1 is a schematic three-dimensional structure diagram of a robot rocker arm according to an embodiment of the present invention, fig. 2 is a schematic three-dimensional structure diagram of a rocker arm frame according to an embodiment of the present invention, and fig. 3 is a schematic three-dimensional structure diagram of a reinforcing member according to an embodiment of the present invention.
Specifically, the invention provides a robot rocker arm, which comprises a rocker arm frame 1 and a reinforcing member 2, wherein the rocker arm frame 1 is used for forming the basic structure of the rocker arm, the reinforcing member 2 is used for reinforcing the rocker arm frame 1, and the number of the reinforcing members 2 and the structure of the reinforcing members 2 influence the weight of the rocker arm and the load capacity of the rocker arm.
Basically, the rocker arm frame 1 is provided with a top plate and a bottom plate which are parallel to each other, and two ends of the top plate and two ends of the bottom plate are respectively connected through side plates; specifically, the side panels are used only to indicate structural members for connecting the top and bottom panels, and do not indicate specific structures thereof.
The top plate is provided with a top clamping groove 5 extending along the x direction, one z-negative direction side of the top clamping groove 5 is an opening end of the top clamping groove 5, and one z-positive direction side of the top clamping groove 5 extends along the y positive direction and the y negative direction relative to the opening end of the top clamping groove 5 to form a clamping groove structure;
the bottom plate is provided with a bottom clamping groove 4 extending along the x direction, one z positive direction side of the bottom clamping groove 4 is an opening end of the bottom clamping groove 4, and one z negative direction side of the bottom clamping groove 4 extends along the y positive direction and the y negative direction relative to the opening end of the bottom clamping groove 4 to form a clamping groove structure;
it should be noted that, the card slot structure is substantially a card slot structure with a T-shaped cross section, taking a top card slot as an example, taking a plane parallel to a yz plane as an example, a width of a z-positive side of the top card slot 5 is larger than an opening width of an open end of the top card slot 5, that is, the z-positive side of the top card slot 5 extends along a y-positive direction and a y-negative direction relative to the open end of the top card slot 5 to form a card slot structure.
The reinforcement 2 comprises a top connecting end 8, a bottom connecting end 10 and a connecting portion 9, wherein the top connecting end 8 and the bottom connecting end 10 are connected through the connecting portion 9, the top connecting end 8 is matched in a clamping groove structure of the top clamping groove 5, the bottom connecting end 10 is in sliding fit in a clamping groove structure of the bottom clamping groove 4, and correspondingly, the connecting portion 9 is located in an opening end of the top clamping groove 5 and an opening end of the bottom clamping groove 4. It should be noted that the rocker arm frame 1 according to the embodiment of the present invention is hollowed out at the z-positive direction position corresponding to the top card slot 5 and the z-negative direction position corresponding to the bottom card slot 4, so as to reduce the self weight of the rocker arm frame 1.
Specifically, the cross section of the reinforcing member 2 is in an i-shaped structure, and the reinforcing member 2 has good pressure resistance in the extending direction of the connecting part 9, namely the z direction; known by the motion state of the rocking arm of robot, what the rocking arm carried out is the action of swing arm, and the one end of rocking arm is the swing drive end promptly, and the other end is the driven end, and the direction of motion of every point on the rocking arm all is perpendicular to the axis direction of rocking arm, and the atress direction of every point when moving on the rocking arm is the axis direction of perpendicular to rocking arm promptly, and this direction is unanimous with the withstand voltage direction of reinforcement 2, and reinforcement 2 can provide effectual support, has guaranteed the reliability of arm motion.
In addition, the rocker arm frame 1 of the robot rocker arm forms the appearance of the rocker arm, and the control invariance of the robot rocker arm can be ensured as long as the fixity of the external connection position of the robot rocker arm is ensured. Meanwhile, the number and the structure of the reinforcing members 2 are configured according to the requirement of load, and in order to ensure the stress balance of each section of the mechanical arm, the reinforcing members 2 are uniformly arranged along the top clamping groove 5 and the bottom clamping groove 4.
Through this mode of setting, can adjust the weight of rocking arm according to the end to ensure under the condition of adaptation actual load, improve the velocity of motion of arm, thereby improve work efficiency.
In particular, the adjustment of the structure of the reinforcement 2 is mainly made by varying the cross-sectional width of the connection portion 9, i.e. by varying the weight of the connection portion 9.
In an alternative embodiment, the y-direction dimension of the connecting portion 9 is smaller than the smaller of the y-direction dimension of the open end of the top card slot 5 and the y-direction dimension of the open end of the bottom card slot 4; or the y-direction size of the connecting part 9 is equal to the smaller of the y-direction size of the opening end of the top card slot 5 and the y-direction size of the opening end of the bottom card slot 4. In specific implementation, the connecting part 9 can be designed to have a uniform cross-sectional width or a non-uniform cross-sectional width, and based on the consideration of load capacity and processing convenience, the connecting part 9 of the invention is designed to have a uniform cross-sectional width, and the cross-sectional width is determined according to the y-direction dimensions of the opening end of the top clamping groove 5 and the opening end of the bottom clamping groove 4.
In an optional embodiment, at least one set of mounting ports is arranged on the y positive direction of the rocker arm frame 1, and/or at least one set of mounting ports is arranged on the y negative direction of the rocker arm frame 1; and the mounting openings comprise a top mounting opening 6 and a bottom mounting opening 11, and the mounting openings are matched with the reinforcing members 2. Specifically, the mounting opening is provided for mounting the reinforcing member 2 into the slot from the Y direction. In the embodiment of the invention, the mounting ports are arranged in the y positive direction and the y negative direction of the clamping groove, and in order to avoid the sliding-out of the reinforcing member 2, two groups of mounting ports positioned in the y positive direction and the y negative direction are staggered in the x direction at a certain distance.
In an alternative embodiment, the top card slot 5 and the bottom card slot 4 have equal length in the x direction, and the starting positions are the same in the x direction; the top card slot 5 and the bottom card slot 4 are both x0 in the length in the x direction. In specific implementation, the x-direction lengths of the top clamping groove 5 and the bottom clamping groove 4 and the reinforcing member 2 are designed in a matched mode, so that the reinforcing member 2 is prevented from being displaced after being installed into the clamping groove.
In an alternative embodiment, the type of reinforcement 2 comprises a first reinforcement; the first stiffener x-direction length is x 1; the x0 is the integral multiple of x1, can guarantee that the array setting of first reinforcement can occupy the length of draw-in groove completely, can not produce the displacement after the installation.
In an alternative embodiment, the type of stiffener 2 further comprises a second stiffener; the x-direction length of the second stiffener is less than the x-direction length of the first stiffener. The second reinforcing member is used for properly adjusting the position of the first reinforcing member according to requirements so as to prevent the first reinforcing member from sliding out; in addition, the material of the second reinforcing member can also be soft material, and correspondingly, the first reinforcing member is made of hard material such as metal under the implementation condition.
In an alternative embodiment, the second stiffener has an x-direction length that is one-half of the x-direction length of the first stiffener, so that the number and arrangement positions of the second stiffener can be calculated.
In the concrete implementation, referring to fig. 2, in the basic design, connecting holes 16 arranged along the y direction can be arranged on the two ends of the rocker arm frame 1 in the x direction, in a specific application, since the connecting hole 16 is a stress concentration position in the rocker arm, the wear rate thereof is fast, and accordingly, the connecting hole 16 can be provided on the reinforcement member 2, namely, the mounting holes 7 are arranged on the reinforcing member 2 along the y direction, in the concrete implementation, the mounting holes 7 can replace the connecting holes 16 for connecting external parts such as a driving motor, a mechanical arm at the previous stage, a mechanical arm at the next stage and the like, on one hand, the actual using arm length of the rocker arm can be adjusted, on the other hand, when the mounting holes 7 are worn and failed, maintenance can be realized through the simple mode of changing the reinforcement 2, scrapping of the whole rocker arm can be avoided, or hole repairing maintenance operation with higher operation difficulty can be carried out on the connecting hole 16, and certain economical efficiency and easy maintenance are achieved.
In an alternative embodiment, any of the stiffeners 2 is divided into front and rear stiffeners based on a dividing plane parallel to the xz plane. Specifically, the components of a whole that can function independently setting of reinforcement 2 has mainly reduced the installation degree of difficulty of reinforcement 2, through the mode that preceding reinforcement and back reinforcement were not installed simultaneously, other positions of half reinforcement 2 accessible draw-in groove of back installation slide into to the position that corresponds to reduce the degree of difficulty of installation and simplify the structure of draw-in groove, guarantee the wholeness of rocker arm frame 1 structure.
It should be noted that if the slot has a gap after the reinforcement 2 is installed, the position of the slot can be supplemented by using a corresponding structural member.
Correspondingly, the embodiment of the invention also provides a multi-axis robot, which comprises the robot rocker arm.
In summary, the embodiment of the invention provides a robot rocker arm and a robot, and the function of adjusting the weight of the robot rocker arm is realized through the modular design of the structure of the robot rocker arm, so as to achieve the purpose of adjusting the maximum speed of the tail end of the robot rocker arm according to the working condition; correspondingly, the robot has the function of adjusting the load and the weight of the movement mechanism according to the load, and the maximum speed of the tail end of the robot can be flexibly adjusted according to the actual working condition.
The robot rocker arm and the robot provided by the embodiment of the invention are described in detail above, and the principle and the embodiment of the invention are explained in the text by applying specific examples, and the description of the above embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A robot rocker arm is characterized by comprising a rocker arm frame and a reinforcing member;
the rocker arm frame is provided with a top plate and a bottom plate which are parallel to each other, and two ends of the top plate and two ends of the bottom plate are respectively connected through side plates;
the top plate is provided with a top clamping groove extending along the x direction, one z-negative direction side of the top clamping groove is an opening end of the top clamping groove, and the z positive direction side of the top clamping groove extends along the y positive direction and the y negative direction relative to the opening end of the top clamping groove to form a clamping groove structure;
the bottom plate is provided with a bottom clamping groove extending along the x direction, one z positive side of the bottom clamping groove is a bottom clamping groove opening end, and one z negative side of the bottom clamping groove extends along the y positive direction and the y negative direction relative to the bottom clamping groove opening end to form a clamping groove structure;
the reinforcement includes top link, end link and connecting portion, top link and end link pass through connecting portion connect, the cooperation of top link is in the draw-in groove structure of top draw-in groove, end link sliding fit is in the draw-in groove structure of end draw-in groove.
2. The robotic rocker arm of claim 1 wherein the y-dimension of the connecting portion is less than the lesser of the y-dimension of the top card slot open end and the y-dimension of the bottom card slot open end;
or the y-direction size of the connecting part is equal to the smaller of the y-direction size of the opening end of the top card slot and the y-direction size of the opening end of the bottom card slot.
3. The robotic rocker arm of claim 1 wherein at least one set of mounting ports is provided in a positive y-direction of the rocker arm frame and/or at least one set of mounting ports is provided in a negative y-direction of the rocker arm frame;
and the mounting openings comprise a top mounting opening and a bottom mounting opening, and the mounting openings are matched with the reinforcing members.
4. The robotic rocker arm of claim 1 wherein the top and bottom pockets are of equal length in the x-direction and have the same starting position in the x-direction;
the length of the top clamping groove and the length of the bottom clamping groove in the x direction are both x 0.
5. The robotic rocker arm of claim 4 wherein the type of reinforcement comprises a first reinforcement; the first stiffener x-direction length is x 1;
x0 is an integer multiple of x 1.
6. The robotic rocker arm of claim 5 wherein the type of reinforcement further comprises a second reinforcement;
the x-direction length of the second stiffener is less than the x-direction length of the first stiffener.
7. The robotic rocker arm of claim 6 wherein the x-direction length of the second reinforcement member is one-half of the x-direction length of the first reinforcement member.
8. The robotic rocker arm of claim 1 wherein the reinforcement member has mounting holes disposed along the y-direction.
9. The robotic rocker arm of claim 1 wherein either of said stiffeners is divided into a front stiffener and a rear stiffener based on a dividing plane parallel to the xz plane.
10. A multi-axis robot comprising a robot swing arm according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110682961.5A CN113246106B (en) | 2021-06-21 | 2021-06-21 | Robot rocker and multi-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110682961.5A CN113246106B (en) | 2021-06-21 | 2021-06-21 | Robot rocker and multi-axis robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113246106A CN113246106A (en) | 2021-08-13 |
| CN113246106B true CN113246106B (en) | 2021-09-14 |
Family
ID=77188835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110682961.5A Active CN113246106B (en) | 2021-06-21 | 2021-06-21 | Robot rocker and multi-axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113246106B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013018058A (en) * | 2011-07-07 | 2013-01-31 | Ulvac Japan Ltd | Transfer robot |
| CN106695888A (en) * | 2017-03-27 | 2017-05-24 | 江苏汇博机器人技术股份有限公司 | Testing device for motor and speed reducer assembly for industrial robot |
| CN211053745U (en) * | 2019-11-18 | 2020-07-21 | 上海华新合金有限公司 | Counter weight casting for robot with adjustable weight |
| CN211867806U (en) * | 2020-03-19 | 2020-11-06 | 四川玖越机器人科技有限公司 | Stacking robot |
| CN111993407A (en) * | 2020-08-14 | 2020-11-27 | 郑州工业应用技术学院 | Mechanical arm of educational robot |
-
2021
- 2021-06-21 CN CN202110682961.5A patent/CN113246106B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013018058A (en) * | 2011-07-07 | 2013-01-31 | Ulvac Japan Ltd | Transfer robot |
| CN106695888A (en) * | 2017-03-27 | 2017-05-24 | 江苏汇博机器人技术股份有限公司 | Testing device for motor and speed reducer assembly for industrial robot |
| CN211053745U (en) * | 2019-11-18 | 2020-07-21 | 上海华新合金有限公司 | Counter weight casting for robot with adjustable weight |
| CN211867806U (en) * | 2020-03-19 | 2020-11-06 | 四川玖越机器人科技有限公司 | Stacking robot |
| CN111993407A (en) * | 2020-08-14 | 2020-11-27 | 郑州工业应用技术学院 | Mechanical arm of educational robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113246106A (en) | 2021-08-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6499690B1 (en) | Rotor blade flap drive apparatus | |
| CN101108481A (en) | Parallel machine with restructurable configuration and scale | |
| CN113246106B (en) | Robot rocker and multi-axis robot | |
| CN100547136C (en) | Shed forming device and be equipped with the jacquard weaving machine of this device | |
| CN106272353A (en) | A kind of planar three freedom meek parallel institution of large stroke and high precision | |
| US8757544B2 (en) | Aircraft control surface drive mechanism | |
| CN110524518B (en) | Two-shift one-rotation less-branch-chain redundant drive fully-symmetrical parallel mechanism | |
| CN208713385U (en) | A kind of macro micro- composite motion platform of big stroke five degree of freedom | |
| CN110281034A (en) | A kind of the Coupled Rigid-flexible platform and motion platform of band enhancing flexible hinge chain group | |
| CN110524516B (en) | Redundant drive parallel mechanism containing redundant branched chain and closed-loop unit | |
| CN109515766A (en) | Two-dimensional pointing mechanism | |
| CN102129501A (en) | Steel plate spring dynamic-simulation method | |
| CN216937805U (en) | Transmission mechanism for bending metal plate | |
| CN209506284U (en) | A kind of positioning device | |
| CN102416432B (en) | Riveting mechanism | |
| CN209461159U (en) | A kind of two-dimension high-precision micromotion platform | |
| CN209409353U (en) | A kind of carbon fiber prepreg acting device for carbon fiber automatic fiber placement machine | |
| CN101537632A (en) | Swing device of razor | |
| CN207465223U (en) | A kind of multiple degrees of freedom large stroke and high precision motion platform | |
| CN201025294Y (en) | A gemel structure for precise line drive | |
| CN110480617A (en) | A kind of passive bending mechanism of multistage based on parallel free end cross reed | |
| CN218017340U (en) | Extensible paw | |
| CN205423654U (en) | Elastic bending motion | |
| EP0842009B1 (en) | A coordinate machine | |
| CN209225950U (en) | A kind of conveying device for automatic radio frequency |
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 |