CN113601526B - Automatic dismantle industrial robot of interference fit part - Google Patents
Automatic dismantle industrial robot of interference fit part Download PDFInfo
- Publication number
- CN113601526B CN113601526B CN202110931409.5A CN202110931409A CN113601526B CN 113601526 B CN113601526 B CN 113601526B CN 202110931409 A CN202110931409 A CN 202110931409A CN 113601526 B CN113601526 B CN 113601526B
- Authority
- CN
- China
- Prior art keywords
- impact
- connecting rod
- sleeve frame
- double
- clamping jaw
- 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
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Springs (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses an industrial robot capable of automatically disassembling interference fit parts, and belongs to the technical field of automatic disassembly of assembled parts. The device comprises a U-shaped sleeve frame, a part locking device, a part impact device and a double-rod piston cylinder; the part locking device comprises a horizontal connecting rod A, a horizontal connecting rod B, V-shaped connecting rod A, V-shaped connecting rod B, an arc clamping jaw A, an arc clamping jaw B and a locking baffle; the part impact device comprises a compression-resistant spiral spring, an impact sliding block, an impact cone, an impact rotating shaft, a double-tooth ratchet wheel, a pawl, a fixed pin, a compression-resistant spiral spring, a steel wire rope and an impact rack; when the part locking device locks the assembled outer part, the arc clamping jaw A and the arc clamping jaw B are simultaneously contacted with the upper wall and the side wall of the assembled outer part. The invention is an industrial robot which has simple and reasonable structure, can lock the parts outside the assembly at four points, and can impact the parts inside the assembly for many times to improve the effect of disassembling and assembling the parts.
Description
Technical Field
The invention mainly relates to the technical field of automatic disassembly of assembled parts, in particular to an industrial robot for automatically disassembling interference fit parts.
Background
For mechanical equipment, sometimes, in order to replace a failed part, a part in interference fit needs to be disassembled to improve the service life and the service efficiency of the whole equipment. The part disassembly in the prior art is usually realized by adopting a manual means, so that the labor intensity is high, the disassembly efficiency and the disassembly effect are not good, and even another normal part can be damaged in the disassembly process. Therefore, the robot for automatically disassembling the interference fit parts has certain use value.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the technical problems in the prior art, the invention provides the industrial robot for automatically disassembling the interference fit parts, which has a simple and reasonable structure, can implement four-point locking on parts outside the assembly and can impact parts inside the assembly for many times so as to improve the effect of disassembling the assembled parts.
In order to solve the problems, the solution proposed by the invention is as follows: the utility model provides an automatic dismantle industrial robot of interference fit part, includes U type sleeve frame, installs be used for locking the part locking device of the outer part of assembly and the part impact device who is used for dismantling the interior part of assembly on the U type sleeve frame to and fixed the installing double-rod piston cylinder on the U type sleeve frame.
The part locking device comprises a horizontal connecting rod A and a horizontal connecting rod B which are symmetrically arranged on the left side and the right side of the U-shaped sleeve frame, a V-shaped connecting rod A with the top point hinged to the left end of the horizontal connecting rod A, a V-shaped connecting rod B with the top point hinged to the right end of the horizontal connecting rod B, an arc clamping jaw A fixedly arranged at the upper end of the V-shaped connecting rod A, an arc clamping jaw B fixedly arranged at the upper end of the V-shaped connecting rod B, and a locking baffle plate arranged along the horizontal direction; the lower end of the V-shaped connecting rod A and the lower end of the V-shaped connecting rod B are both installed on the locking baffle in a sliding hinged mode.
Part impact device includes and installs outwards from the lining in proper order the inside resistance to compression coil spring of U type barrel casing frame and impact the slider, fixedly installs impact awl on the impact slider, fixedly installs impact pivot on the U type barrel casing frame rotates and installs impact epaxial impact carousel and double tooth ratchet install pawl on the impact carousel, the off-centre is installed fixed pin on the impact carousel, one end with impact the slider and link to each other, the other end passes in proper order resistance to compression coil spring with set up the centre bore of U type barrel casing frame bottom and with the wire rope that the fixed pin links to each other, and with the driven impact rack of double tooth ratchet external toothing.
The open end of the U-shaped sleeve frame is provided with an impact baffle plate for blocking the impact sliding block from sliding outwards; when the two ends of the compression-resistant spiral spring freely abut against the U-shaped sleeve frame and the impact sliding block, the end part of the impact cone extends to the outside of the U-shaped sleeve frame.
The double-tooth ratchet wheel is a large disc with a counter bore in the center, transmission teeth meshed with the outside of the impact rack and driven are arranged on the outer circumferential wall of the large disc, and inner ratchet teeth matched with the pawls are arranged on the inner circumferential wall of the counter bore; the impact rotary table is positioned in the counter bore of the double-tooth ratchet wheel.
And an output piston rod A of the double-rod piston cylinder is fixedly connected with the locking baffle, and an output piston rod B of the double-rod piston cylinder is fixedly connected with the impact rack.
Further, the V-shaped connecting rod A and the V-shaped connecting rod B are bilaterally symmetrical about the center line of the U-shaped sleeve frame, and the arc clamping jaw A and the arc clamping jaw B are bilaterally symmetrical about the center line of the U-shaped sleeve frame.
Furthermore, when the part locking device locks the assembled outer part, the arc clamping jaw A and the arc clamping jaw B are simultaneously contacted with the upper wall and the side wall of the assembled outer part.
Compared with the prior art, the invention has the following advantages and beneficial effects: the industrial robot for automatically disassembling the interference fit parts is provided with the part locking device for locking the assembly external parts, and four-point locking of the assembly external parts is realized through the downward movement of the output piston rod A, so that the locking force is increased, the small synchronous sliding of the assembly internal parts under the impact force is effectively prevented, and the disassembling efficiency is improved; in addition, the part impact device provided by the invention has the advantages that the double-tooth ratchet wheel and the impact rotary table are arranged, so that the impact rotary table can rapidly rotate, the release speed of the elastic potential energy of the compression-resistant spiral spring is far higher than the storage speed of the elastic potential energy, and the amplitude of impact force is increased; the two ends of the compression-resistant spiral spring are freely installed, so that the amplitude of impact force is almost unchanged after the assembly inner part is withdrawn from the assembly outer part. Therefore, the industrial robot for automatically disassembling the interference fit parts has a simple and reasonable structure, can implement four-point locking on the assembled outer parts and impact the assembled inner parts for multiple times to improve the effect of disassembling the assembled parts.
Drawings
Fig. 1 is a schematic structural diagram of an industrial robot for automatically disassembling interference fit parts according to the invention.
In the figure, 11 — the outer part is assembled; 12-assembling the inner parts; 21-V-shaped link a; 22-horizontal link a; 23-arc clamping jaw A; 24-V-shaped link B; 25-horizontal link B; 26-arc clamping jaw B; 27-an impact cone; 28-impact slide block; 29-compression resistant helical springs; 3-U-shaped sleeve frame; 31-impact baffle; 4-a double-rod piston cylinder; 41-output piston rod a; 42-output piston rod B; 43-locking baffle; 44-impact rack; 51-double-tooth ratchet wheel; 52-impact rotary table; 53-pawl; 54-a fixed pin; 55-impact rotating shaft; 6-steel wire rope.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, the industrial robot for automatically disassembling interference fit parts of the invention comprises a U-shaped sleeve frame 3, a part locking device arranged on the U-shaped sleeve frame 3 and used for locking and assembling an outer part 11, a part impacting device used for disassembling and assembling an inner part 12, and a double-rod piston cylinder 4 fixedly arranged on the U-shaped sleeve frame 3.
The part locking device comprises a horizontal connecting rod A22 and a horizontal connecting rod B25 which are symmetrically arranged at the left side and the right side of the U-shaped sleeve frame 3, a V-shaped connecting rod A21, a V-shaped connecting rod B24, an arc clamping jaw A23, an arc clamping jaw B26 and a locking baffle 43, wherein the vertex is hinged to the left end of the horizontal connecting rod A22, the vertex is hinged to the right end of the horizontal connecting rod B25, the arc clamping jaw A23 is fixedly arranged at the upper end of the V-shaped connecting rod A21, the arc clamping jaw B26 is fixedly arranged at the upper end of the V-shaped connecting rod B24, and the locking baffle 43 is arranged along the horizontal direction; the lower end of the V-shaped connecting rod A21 and the lower end of the V-shaped connecting rod B24 are both arranged on the locking baffle 43 in a sliding hinged mode.
The part impact device comprises a compression-resistant spiral spring 29 and an impact slide block 28 which are arranged inside the U-shaped sleeve frame 3 from inside to outside in sequence, an impact cone 27 fixedly arranged on the impact slide block 28, an impact rotating shaft 55 fixedly arranged on the U-shaped sleeve frame 3, an impact rotating disc 52 and a double-tooth ratchet 51 which are rotatably arranged on the impact rotating shaft 55, a pawl 53 arranged on the impact rotating disc 52, a fixed pin 54 eccentrically arranged on the impact rotating disc 52, a steel wire rope 6 of which one end is connected with the impact slide block 28 and the other end sequentially penetrates through the compression-resistant spiral spring 29 and a central hole formed in the bottom of the U-shaped sleeve frame 3 and is connected with the fixed pin 54, and an impact rack 44 which is in external meshing transmission with the double-tooth ratchet 51.
The open end of the U-shaped sleeve frame 3 is provided with an impact baffle 31 for preventing the impact slide block 28 from sliding outwards; when the two ends of the compression coil spring 29 are freely abutted against the U-shaped sleeve frame 3 and the impact slider 28, the end of the impact cone 27 extends to the outside of the U-shaped sleeve frame 3.
The double-tooth ratchet wheel 51 is a large disc with a counter bore in the center, transmission teeth which are meshed with the outside of the impact rack 44 for transmission are arranged on the outer circumferential wall of the large disc, and inner ratchets matched with the pawls 53 are arranged on the inner circumferential wall of the counter bore; impact dial 52 is located in the counterbore of double-tooth ratchet 51.
An output piston rod A41 of the double-rod piston cylinder 4 is fixedly connected with the locking baffle 43, and an output piston rod B42 of the double-rod piston cylinder 4 is fixedly connected with the impact rack 44.
Preferably, the V-shaped connecting rod a21 and the V-shaped connecting rod B24 are bilaterally symmetrical about the center line of the U-shaped sleeve frame 3, and the circular arc clamping jaw a23 and the circular arc clamping jaw B26 are bilaterally symmetrical about the center line of the U-shaped sleeve frame 3.
Preferably, when the part locking device locks the outer fitting 11, the circular arc jaw a23 and the circular arc jaw B26 are simultaneously in contact with the upper wall and the side wall of the outer fitting 11.
When an output piston rod A41 of the double-rod piston cylinder 4 extends outwards, namely moves upwards, the locking baffle 43 is pushed to move upwards, so that the V-shaped connecting rod A21 rotates anticlockwise, the V-shaped connecting rod B24 rotates clockwise, the arc clamping jaw A23 and the arc clamping jaw B26 are far away from each other, and the outer assembly part 11 in interference fit is loosened; when an output piston rod A41 of the double-rod piston cylinder 4 retracts inwards, namely moves downwards, the locking baffle 43 is pulled to move downwards, further the V-shaped connecting rod A21 rotates clockwise, the V-shaped connecting rod B24 rotates anticlockwise, and therefore the arc clamping jaw A23 and the arc clamping jaw B26 are close to each other, so that the clamping effect of the assembly outer part 11 in interference fit is achieved, two ends of the arc clamping jaw A (23) respectively act on the upper end face and the left end face of the assembly outer part 11 during clamping, two ends of the arc clamping jaw B (26) respectively act on the upper end face and the right end face of the assembly outer part 11, and therefore the two arc clamping jaws can prevent the assembly outer part 11 from moving towards the direction far away from the U-shaped sleeve frame 3.
When the output piston rod B42 of the double-rod piston cylinder 4 extends outwards, i.e. moves downwards, the double-tooth ratchet wheel 51 is driven to rotate anticlockwise, and at the moment, the impact rotary disc 52 does not synchronously rotate along with the double-tooth ratchet wheel 51 because the pawl 53 can slide along the inner ratchet back of the double-tooth ratchet wheel 51; when the output piston rod B42 of the double-rod piston cylinder 4 retracts inwards, i.e. moves upwards, the double-tooth ratchet wheel 51 is driven to rotate clockwise, at this time, the pawl 53 is driven to move by the inner ratchet of the double-tooth ratchet wheel 51, and the impact rotary disc 52 is driven by the pawl 53 to rotate clockwise synchronously with the double-tooth ratchet wheel 51.
When the compression coil spring 29 is in a zero-stress state, the fixing pin 54 is located on the center line of the compression coil spring 29 and at the closest position point to the external component 11; when the impact rotary disc 52 rotates clockwise by a half circle, the fixed pin 54 is located exactly on the center line of the compression-resistant helical spring 29 and at the farthest position from the outer fitting part 11, and the compression deformation amount of the compression-resistant helical spring 29 is the largest, and the stored elastic potential energy is the largest.
Under the condition that the part locking device is used for locking and assembling the outer part 11, when the output piston rod B42 retracts inwards, namely moves upwards, the double-tooth ratchet wheel 51 drives the impact turntable 52 to synchronously rotate clockwise, the fixing pin 54 pulls the impact cone 27 to move downwards through the steel wire rope 6 and compresses the compression-resistant spiral spring 29, so that the compression-resistant spiral spring stores elastic potential energy; when the double-tooth ratchet wheel 51 and the impact rotary disc 52 rotate for more than 180 degrees, the impact rotary disc 52 continues to rotate clockwise to release the elastic potential energy of the compression-resistant spiral spring 29, so that the impact cone 27 moves upwards under the action of the elastic potential energy, and a certain impact force is generated on the inner part 12 of the assembly; since the impact rotary disc 52 rotates clockwise relative to the double-tooth ratchet wheel 51 to enable the pawls 53 to slide along the corresponding ridges, no matter the double-tooth ratchet wheel 51 is stationary or rotates counterclockwise at this time, the continuous clockwise rotation of the impact rotary disc 52 is not hindered, i.e. the release of the elastic potential energy of the helical compression spring 29 can be performed rapidly, so that the impact cone 27 generates a large impact force on the inner part 12. As the fitting inner part 12 is gradually pushed out of the fitting inner part 11, both ends of the compression coil spring 29 are freely installed in such a manner that the impact cone 27 can be distanced from the compression coil spring 29 without reducing the strength of the impact force.
When the impact cone 27 is at rest, the compression-resistant helical spring 29 returns to the zero deformation state, the cylindrical pin 54 returns to the nearest position point from the outer assembly part 11, and the output piston rod B42 of the double-rod piston cylinder 4 extends outwards and returns to the initial state; because the output piston rod B42 of the double-rod piston cylinder 4 extends outwards and cannot cause the impact rotary disc 52 to rotate, the output piston rod B42 reciprocates up and down to provide impact force for the impact cone 27 for multiple times until the assembly inner part 12 is separated from the assembly outer part 11, the output piston rod B42 stops moving, the output piston rod A41 returns to the initial position, and the assembly outer part 11 is loosened.
The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through creative efforts should fall within the scope of the present invention.
Claims (3)
1. An industrial robot capable of automatically disassembling interference fit parts comprises a U-shaped sleeve frame (3), a part locking device which is arranged on the U-shaped sleeve frame (3) and used for locking and assembling an outer part (11), a part impact device which is used for disassembling and assembling an inner part (12), and a double-rod piston cylinder (4) which is fixedly arranged on the U-shaped sleeve frame (3); the method is characterized in that:
the part locking device comprises a horizontal connecting rod A (22) and a horizontal connecting rod B (25) which are symmetrically arranged on the left side and the right side of the U-shaped sleeve frame (3), a V-shaped connecting rod A (21) which is hinged and arranged at the left end of the horizontal connecting rod A (22) at the top point, a V-shaped connecting rod B (24) which is hinged and arranged at the right end of the horizontal connecting rod B (25) at the top point, an arc clamping jaw A (23) which is fixedly arranged at the upper end of the V-shaped connecting rod A (21), an arc clamping jaw B (26) which is fixedly arranged at the upper end of the V-shaped connecting rod B (24), and a locking baffle (43) which is arranged along the horizontal direction; the lower end of the V-shaped connecting rod A (21) and the lower end of the V-shaped connecting rod B (24) are both arranged on the locking baffle (43) in a sliding hinged mode;
the part impact device comprises a compression-resistant spiral spring (29) and an impact sliding block (28) which are sequentially arranged inside the U-shaped sleeve frame (3) from inside to outside, an impact cone (27) fixedly arranged on the impact sliding block (28), an impact rotating shaft (55) fixedly arranged on the U-shaped sleeve frame (3), an impact rotating disc (52) and a double-tooth ratchet wheel (51) which are rotatably arranged on the impact rotating shaft (55), a pawl (53) arranged on the impact rotating disc (52), a fixed pin (54) eccentrically arranged on the impact rotating disc (52), a steel wire rope (6) with one end connected with the impact sliding block (28) and the other end sequentially passing through the compression-resistant spiral spring (29) and a central hole arranged at the bottom of the U-shaped sleeve frame (3) and connected with the fixed pin (54), and an impact rack (44) in external meshing transmission with the double-tooth ratchet wheel (51);
the open end of the U-shaped sleeve frame (3) is provided with an impact baffle (31) for blocking the impact sliding block (28) from sliding out; when two ends of the compression-resistant spiral spring (29) are freely abutted against the U-shaped sleeve frame (3) and the impact sliding block (28), the end part of the impact cone (27) extends to the outside of the U-shaped sleeve frame (3);
the double-tooth ratchet wheel (51) is a large disc with a counter bore in the center, transmission teeth which are in meshed transmission with the outside of the impact rack (44) are arranged on the outer circumferential wall of the large disc, and inner ratchets matched with the pawls (53) are arranged on the inner circumferential wall of the counter bore; the impact rotary disc (52) is positioned in a counter bore of the double-tooth ratchet wheel (51);
an output piston rod A (41) of the double-rod piston cylinder (4) is fixedly connected with the locking baffle (43), and an output piston rod B (42) of the double-rod piston cylinder (4) is fixedly connected with the impact rack (44).
2. An industrial robot for automatically disassembling interference fit parts according to claim 1, wherein: the V-shaped connecting rod A (21) and the V-shaped connecting rod B (24) are bilaterally symmetrical about the center line of the U-shaped sleeve frame (3), and the arc clamping jaw A (23) and the arc clamping jaw B (26) are bilaterally symmetrical about the center line of the U-shaped sleeve frame (3).
3. An industrial robot for automatically disassembling interference fit parts according to claim 1, wherein: when the part locking device locks the assembled outer part (11), the arc clamping jaw A (23) and the arc clamping jaw B (26) are simultaneously contacted with the upper wall and the side wall of the assembled outer part (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110931409.5A CN113601526B (en) | 2021-08-13 | 2021-08-13 | Automatic dismantle industrial robot of interference fit part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110931409.5A CN113601526B (en) | 2021-08-13 | 2021-08-13 | Automatic dismantle industrial robot of interference fit part |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113601526A CN113601526A (en) | 2021-11-05 |
| CN113601526B true CN113601526B (en) | 2022-07-05 |
Family
ID=78340680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110931409.5A Active CN113601526B (en) | 2021-08-13 | 2021-08-13 | Automatic dismantle industrial robot of interference fit part |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113601526B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114633271B (en) * | 2022-03-10 | 2024-04-16 | 常州大学 | Flexible clamping manipulator with gear self-locking function |
| CN115570356A (en) * | 2022-12-07 | 2023-01-06 | 溧阳市康宏机械有限公司 | Gear assembly robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT290256B (en) * | 1969-07-28 | 1971-05-25 | Ges Fertigungstechnik & Maschb | Clamping head for forging machines |
| CN201192766Y (en) * | 2008-04-29 | 2009-02-11 | 上海宝钢设备检修有限公司 | Apparatus for disassemble of interference fit bolt |
| CN210335995U (en) * | 2019-08-26 | 2020-04-17 | 湖北汉唐智能科技股份有限公司 | Mechanical self-locking type shaft part clamping jaw suitable for automatic grabbing equipment |
| CN111136614A (en) * | 2020-01-13 | 2020-05-12 | 中车株洲电力机车有限公司 | Dismounting device of interference cover class part |
| CN111921592B (en) * | 2020-07-17 | 2022-05-13 | 常州大学 | Robot for quickly impacting triturated and burned substance |
-
2021
- 2021-08-13 CN CN202110931409.5A patent/CN113601526B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113601526A (en) | 2021-11-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113601526B (en) | Automatic dismantle industrial robot of interference fit part | |
| CN100451389C (en) | Device for transform fluid-pressure into mechanical rotating motion | |
| CN201991310U (en) | Streamline type button control section network cabinet lock | |
| CN102024552A (en) | Large-rotating angle quick mechanism used for on-load tap-changer | |
| CN202055622U (en) | Handle structure capable of changing door opening direction | |
| CN107191051B (en) | A kind of electric power network electric pole based on rotation protection electric wire | |
| CN208489317U (en) | Needle device is rolled up in plug applied to quadrate lithium battery up- coiler | |
| CN208484084U (en) | Tyre adjustable die position-limit mechanism and tyre adjustable die | |
| CN104878987B (en) | A kind of automatic door lock assembly apparatus | |
| CN105967056A (en) | Clip type special lifting hook for electric pole | |
| CN110242519A (en) | A kind of power output device | |
| CN212936343U (en) | Electric automation equipment mounting base | |
| CN201694069U (en) | Inside-engaged disc seat angle adjuster core device | |
| CN109779857A (en) | A kind of power output device | |
| CN110260902A (en) | A kind of portable instrument grip structure, portable instrument and application method | |
| CN109899255A (en) | A kind of power output device | |
| CN220687565U (en) | Reciprocating type plunger pump valve box structure | |
| CN203250236U (en) | Automatic centering device and simulation handle with same | |
| CN114307057B (en) | Sports apparatus for training leg strength | |
| CN210620045U (en) | Wind-proof device for gantry crane | |
| CN212247861U (en) | Road and bridge maintenance structure | |
| CN201667981U (en) | Stepping mechanism of tobacco braiding machine | |
| CN109869051B (en) | Lock for Internet of things | |
| CN109869050B (en) | Electronic lock | |
| CN201841529U (en) | Rocker type telescopic positioning locking mechanism of alternating-current gun drill with drilling tool switching device |
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 |