CN116252976A - Microgravity simulation device and method - Google Patents

Microgravity simulation device and method Download PDF

Info

Publication number
CN116252976A
CN116252976A CN202310157062.2A CN202310157062A CN116252976A CN 116252976 A CN116252976 A CN 116252976A CN 202310157062 A CN202310157062 A CN 202310157062A CN 116252976 A CN116252976 A CN 116252976A
Authority
CN
China
Prior art keywords
float
microgravity
floating
simulation device
microgravity simulation
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.)
Pending
Application number
CN202310157062.2A
Other languages
Chinese (zh)
Inventor
丁晓峰
于曦
杨雁勇
杨騉
崔慧峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beihang University
Original Assignee
Beihang University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beihang University filed Critical Beihang University
Priority to CN202310157062.2A priority Critical patent/CN116252976A/en
Publication of CN116252976A publication Critical patent/CN116252976A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The invention discloses a microgravity simulation device and method, relates to the technical field of ground microgravity simulation, and aims to solve the problems of high cost and short experimental duration in the prior art. The microgravity simulation device comprises: the device comprises a rotary driving mechanism, at least one floater and at least one container for containing liquid medium, wherein the rotary driving mechanism is provided with at least one power output shaft, each floater is arranged on the corresponding power output shaft, the floaters float on the liquid medium, the mass center of each floater is positioned above the liquid medium, and the distance between the geometric center of each floater and the mass center of each floater is larger than 0. The method of the microgravity simulation device is used for simulating microgravity. The microgravity simulation device and method provided by the invention are used for microgravity simulation.

Description

Microgravity simulation device and method
Technical Field
The invention relates to the technical field of ground microgravity simulation, in particular to a microgravity simulation device and method.
Background
In order to ensure the safety and reliability of the space motor system during space operation, in the development and test stage of the space motor, full simulation tests need to be carried out on the ground, and space microgravity ground simulation test methods such as a tower falling method, a parabolic flight method, a liquid floating method and the like are developed for decades successively.
In the prior art, the tower falling method is to execute free falling motion in a microgravity tower, so that an object can obtain a good microgravity state when doing free falling motion. Parabolic flight is a method that utilizes parabolic maneuver to create a microgravity and low gravity environment. The tower falling method and the parabolic flight method have high cost and short experimental duration, and are not enough to fully provide ground experimental basis.
Disclosure of Invention
The invention aims to provide a microgravity simulation device and method, which are used for solving the problems of high cost and short experimental duration in the prior art.
In a first aspect, the present invention provides a microgravity simulation device comprising: the device comprises a rotary driving mechanism, at least one floater and at least one container for containing liquid medium, wherein the rotary driving mechanism is provided with at least one power output shaft, each floater is arranged on the corresponding power output shaft, the floaters float on the liquid medium, the mass center of each floater is positioned above the liquid medium, and the distance between the geometric center of each floater and the mass center of each floater is larger than 0.
Compared with the prior art, the microgravity simulation device provided by the invention has the advantages that the rotation driving mechanism is provided with at least one power output shaft, each floater is arranged on the corresponding power output shaft and floats on the liquid medium contained in the container, and the mass center of the floater is positioned above the liquid medium, so that the floater can be ensured to be in a microgravity state under the action of the supporting force of the power output shaft.
In the initial stage of the floating device, the geometric center of the floating device in the initial position is positioned on the straight line where the central axis of the corresponding power output shaft is positioned, so that the buoyancy force born by the floating device can simulate the microgravity born by the floating device. Due to gravity and power transmission of the floating deviceThe rotation center of the output shaft is not in a straight line, and the heavy moment can restrain the movement of the floater, so that the power output shaft can be driven by the rotation driving mechanism to rotate to drive the floater to a preset position, so that the floater receives the heavy moment m at the preset position 4 gxlsin θ and friction torque T f Equilibrium is reached. In this case, the float is under friction torque T f Under the action of the control system, the geometric center of the floating device at the preset position is probably not positioned on the straight line corresponding to the central axis of the power output shaft, so that the buoyancy applied to the floating device by the liquid medium can be indirectly controlled by adjusting the physical parameters of the liquid medium, and the geometric center of the floating device at the preset position is ensured to be positioned on the straight line corresponding to the central axis of the power output shaft. At this time, the buoyancy force exerted by the floating device can simulate the microgravity exerted by the floating device at the preset position. Therefore, the implementation process of the microgravity simulation device is simple in structure and low in cost, the buoyancy of the floater can be changed differently by adjusting the physical parameters of the liquid medium, the microgravity of the floater at different positions can be simulated by different buoyancy received by the floater, and the microgravity of the floater at different positions can be simulated for a long time by different buoyancy changes.
In a second aspect, the present invention provides a method of microgravity modeling apparatus, comprising:
under the condition that the geometric center of the floaters is positioned on a straight line where the central axis of the corresponding power output shaft is positioned, controlling the rotation driving mechanism to drive at least one floaters to rotate from an initial position to a preset position;
if the floating device rotates from the initial position to the preset position, the physical parameters of the liquid medium are adjusted until the geometric center of the floating device at the preset position is positioned on the straight line where the central axis of the corresponding power output shaft is positioned, and the weight moment and the friction torque of the floating device at the preset position are balanced.
Compared with the prior art, the beneficial effects of the method of the microgravity simulation device provided by the invention are the same as those of the microgravity simulation device provided by the invention, and the description is omitted here.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 illustrates a block diagram of a microgravity simulation device according to an exemplary embodiment of the present invention;
FIG. 2 shows a flow diagram of a method of a microgravity simulation device;
FIG. 3 illustrates an exemplary embodiment of the present invention showing a force analysis diagram of a float at rest;
FIG. 4 illustrates a force analysis chart showing initial motion of a float in accordance with an exemplary embodiment of the present invention;
fig. 5 shows a force analysis diagram of an exemplary embodiment of the present invention showing a balanced state of a float.
Reference numerals:
101-rotation driving mechanism, 1011-motor, 1012-power output shaft, 1013-rotating shaft, 102-floater, 1021-floating structure, 1021 a-first floating structure, 1021 b-second floating structure, 1022-bearing, 103-container, 104-liquid medium.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The meaning of "a number" is one or more than one unless specifically defined otherwise.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In order to ensure the safety and reliability of the space motor system during space operation, in the development and test stage of the space motor, full simulation tests need to be carried out on the ground, and space microgravity ground simulation test methods such as a tower falling method, a parabolic flight method, a liquid floating method and the like are developed for decades successively.
In the prior art, the tower falling method is to execute free falling motion in a microgravity tower, so that an object can obtain a good microgravity state when doing free falling motion. Parabolic flight is a method that utilizes parabolic maneuver to create a microgravity and low gravity environment. The tower falling method and the parabolic flight method have high cost and short experimental duration, and are not enough to fully provide ground experimental basis.
In order to solve the problems, the exemplary embodiments of the present invention provide a microgravity simulation device and method, so as to solve the problems of high cost and short experimental duration in the prior art.
Fig. 1 shows a block diagram of a microgravity simulation device according to an exemplary embodiment of the present invention. As shown in fig. 1, a microgravity simulation device provided in an exemplary embodiment of the present invention includes: a rotary drive mechanism 101, at least one float 102 and at least one container 103 for holding a liquid medium 104, the rotary drive mechanism 101 having at least one power take-off shaft 1012, each float being provided on a respective power take-off shaft 1012, the float 102 floating on the liquid medium 104, the centre of mass of the float 102 being located above the liquid medium 104, the distance between the geometric centre of the float 102 and the centre of mass of the float being greater than 0.
When the number of shafts 1013 is two, the axes of the two shafts 1013 are coincident, and accordingly, the number of containers 103 is also two, and the shape and size are the same, and the volumes of the liquid medium contained therein are the same.
In particular, as shown in fig. 1, the geometric center of the rotation driving mechanism and the geometric center of at least one floating device 102 in the embodiment of the present invention are aligned, the rotation driving mechanism 101 drives the power output shaft to rotate, the power output shaft 1012 rotates to drive the floating device 102 to rotate from the initial position, the floating device 102 floats on the container 103 and holds the liquid medium 104, and when the floating device 102 floats on the liquid medium, the center of mass of the floating device 102 is located above the liquid medium 104. The rotation of the float 102 causes the center of mass of the float to deflect, the center of mass of the float 102 deflects relative to the geometric center of the shaft, and the gravitational moment suppresses the friction moment generated by the float relative to the bearing, so that the float rotates synchronously with the shaft.
In practical application, in the initial stage of the floating device, the geometric center of the floating device in the initial position is positioned in the straight line of the central axis of the corresponding power output shaft, so that the floating device can be ensured to be subjected toThe buoyancy achieved may simulate the microgravity experienced by a float. The gravity of the floater is not in the same straight line with the rotation center of the power output shaft, so that the gravity moment can restrain the movement of the floater, and the power output shaft can be driven by the rotation driving mechanism to drive the floater to rotate from the initial position to the preset position, so that the gravity moment m borne by the floater at the preset position 4 gXLsin θ and friction torque T f Equilibrium is reached. In this case, the float is under friction torque T f Under the action of the control system, the geometric center of the floating device at the preset position is probably not positioned on the straight line where the central axis of the corresponding power output shaft is positioned, so that the buoyancy applied to the floating device by the liquid medium can be indirectly controlled by adjusting the physical parameters of the liquid medium, and the geometric center of the floating device at the preset position is ensured to be positioned on the straight line where the central axis of the corresponding power output shaft is positioned. At this time, the buoyancy force exerted by the floating device can simulate the microgravity exerted by the floating device at the preset position. It can be seen that the microgravity change of the float is substantially equal to the friction torque T f In connection with, and friction torque T f And is also associated with a rotary drive mechanism.
Therefore, the implementation process of the microgravity simulation device is simple in structure and low in cost, the buoyancy of the floater can be changed differently by adjusting the physical parameters of the liquid medium, the microgravity of the floater at different positions can be simulated by different buoyancy received by the floater, and the microgravity of the floater at different positions can be simulated for a long time by different buoyancy changes.
The final objective of the embodiment of the invention is that the geometric center of each floater is positioned on the straight line where the central axis of the corresponding power output shaft is positioned. When the microgravity simulation device is static, the floaters float on the liquid medium, the liquid medium is also in a static state, the floaters only receive buoyancy generated by the liquid medium on the floaters, and the buoyancy received by the floaters offsets the gravity of the floaters, so that the gravity received by the floaters is almost zero. At this time, the floaters are not subjected to other forces, so that the geometric center of each floater is positioned on the straight line where the central axis of the corresponding power output shaft is positioned.
In one alternative, the at least one float comprises two floats and the rotary drive mechanism comprises a motor and a shaft coupled to an output shaft of the motor. At this time, the two floaters may be simultaneously driven to rotate by the motor. It should be understood that the motor can be an electromagnetic generator consisting of a motor stator and a motor rotor, can also be a generator directly driven by electric energy, and can be various space motors, and the motor can be adjusted according to different requirements of the microgravity simulation device.
Illustratively, as shown in fig. 1, the float 102 includes a float structure 1021 and a bearing 1022 provided in the float structure, and the rotation shaft 1013 is connected to the bearing 1022, and as shown in fig. 2, the float structure 1021 includes a first float structure 1021a and a second float structure 1021b, and the first float structure 1021a and the second float structure 1021b enclose a receiving space for receiving the bearing.
Illustratively, the mass of the first floating structure is greater than the mass of the second floating structure, and the physical parameters of the first floating structure and the second floating structure are the same.
For example: when the first floating structure and the second floating structure of the floaters are made of different materials, the first floating structure is made of a small material density, the second floating structure is made of a large material density, and the shape, the volume and the mass of the two floaters are identical. At this time, the density of the first floating structure is greater than that of the second floating structure, so that the mass of the first floating structure is greater than that of the second floating structure, and the mass center of the floating device is located at the O1 point below the O point of the geometric center, so that the circumferential movement probability of the floating device relative to the bearing in the floating device is reduced, and the stability of the device is improved.
Fig. 2 shows a flow diagram of a method of a microgravity simulation device. The embodiment of the invention also provides a method for the microgravity simulation device, which comprises the following steps:
step 201: under the condition that the geometric center of the floaters is positioned on a straight line where the central axis of the corresponding power output shaft is positioned, controlling the rotation driving mechanism to drive at least one floaters to rotate from an initial position to a preset position;
when the microgravity simulation device is at the initial position, the gravity G of the floater of the microgravity simulation device and the buoyancy F of the liquid medium of the floater of the microgravity simulation device are ensured Floating device Equal (G.apprxeq.F) Floating device ) When (1). At this time, the geometric center of the float is located in a straight line where the central axis of the corresponding power take-off shaft is located.
For example, when the liquid medium is in an initial state, assuming a liquid medium density ρ, the total mass of the two floaters is m 1 The total mass of the bearings arranged in the two floaters is m 2 The mass of the rotation driving mechanism is m 3 . The gravitational acceleration on earth is g. The sum of the buoyancy forces exerted by the two floaters is F Floating device The total gravity of the two floaters, the bearings arranged in the two floaters and the rotating shaft is G, and the total gravity G= (m) 1 +m 2 +m 3 ) g. By adjusting the density rho of the liquid medium, the gravity G of the floaters of the microgravity simulation device and the buoyancy F of the liquid medium of the floaters of the microgravity simulation device are ensured Floating device Equal (G.apprxeq.F) Floating device )。
Fig. 3 shows an exemplary embodiment of the present invention showing a force analysis diagram of a floating vessel at rest. As shown in fig. 3, the center of mass of the float should be located at O1 point below geometric center O point, and the total weight G is compensated by buoyancy when the device is stationary, assuming the length of the center of mass offset from geometric center L, and the float can float on the water surface. When the floater starts to rotate from the initial position, the bearing in the floater and the floater generate relative friction, so that the floater and the bearing in the floater generate circumferential rotation, and therefore, when the mass center of the floater is positioned at the O1 point below the O point of the geometric center, the probability of circumferential rotation can be reduced.
Step 202: if the floating device rotates from the initial position to the preset position, the physical parameters of the liquid medium are adjusted until the geometric center of the floating device at the preset position is positioned on the straight line where the central axis of the corresponding power output shaft is positioned, and the weight moment and the friction torque of the floating device at the preset position are balanced. It will be appreciated that the distance between the geometric centre of the float and the centre of mass of the float is greater than 0, since if the float is rotated from the initial position to the preset position.
In practical application, the control rotation driving mechanism drives at least one floater to rotate from an initial position to a preset position, and the control rotation driving mechanism comprises the following steps: the control rotation driving mechanism drives a rotating shaft connected with an output shaft of the motor to rotate, and the two floaters rotate with the floaters connected with the rotating shaft to a preset position.
Fig. 4 shows a force analysis diagram of an exemplary embodiment of the present invention showing an initial motion state of a float. As shown in fig. 4, when the rotation driving mechanism drives the power output shaft to rotate at ω, the power output shaft rotates to drive the bearing in the float to rotate, and the rotation of the bearing causes friction torque T to be generated between the float and the bearing in the float f When the float rotates from the initial position to the preset position, T f When fr=bω, where f represents the coefficient of friction between the bearing outer ring and the float, B represents the damping coefficient, the float is at T due to the fixed shaft f Will rotate in omega direction around the O point, and the friction moment T is generated between the bearing outer ring and the floater f Equal fr and Bω, effectively prevents the float from rotating circumferentially. Since the volume of the immersed liquid of the floating device is unchanged, the buoyancy of the floating device is unchanged.
Fig. 5 shows a force analysis diagram of an exemplary embodiment of the present invention showing a balanced state of a float. As shown in fig. 5, when the float is rotated from the initial position to the preset position, the float is at T because the gravity of the float is not aligned with the geometric center of the float f Will rotate around O point in omega direction to O1 point, will generate heavy moment to restrain the movement of the float, the offset angle of the float at the preset position relative to the initial position is theta, the heavy moment and the friction torque T f Reach equilibrium, i.e. m 4 g×Lsinθ＝T f Wherein m is 4 Is the mass of the float and the outer ring of the bearing.
For example, in combination with engineering fluid mechanics, under the precondition that the liquid medium is not overflowed, the density of the liquid medium is slightly adjusted by adding water or a solid medium dissolved in water into the container, so that the buoyancy is greatly changed, and the data of the microgravity simulation device are collected, so that the microgravity simulation device can fully simulate the microgravity characterization state.

Claims (10)

1. A microgravity simulation device, comprising: a rotary drive mechanism, at least one float and at least one container for holding a liquid medium, the rotary drive mechanism having at least one power take-off shaft, each of the floats being provided on a respective one of the power take-off shafts, the float being floating on the liquid medium, the centre of mass of the float being located above the liquid medium, the distance between the geometric centre of the float and the centre of mass of the float being greater than 0.
2. The microgravity simulation device according to claim 1, wherein the at least one floater comprises two floaters, the rotation driving mechanism comprises a motor and a rotating shaft connected with an output shaft of the motor, and the rotating shaft is connected with the two floaters.
3. The microgravity simulation device according to claim 1, wherein the float comprises a float structure and a bearing provided in the float structure, and a rotation shaft is connected to the bearing.
4. A microgravity simulation device according to claim 3 wherein the floating structure comprises a first floating structure and a second floating structure, the first floating structure and the second floating structure enclosing a receiving space for receiving the bearing.
5. The microgravity simulation device of claim 4, wherein the mass of the first floating structure is greater than the mass of the second floating structure.
6. The microgravity simulation device of claim 4 wherein the physical parameters of the first floating structure and the second floating structure are the same.
7. The microgravity simulation device according to any one of claims 1 to 4 wherein the geometric center of each of the floaters is located in a straight line where the central axis of the corresponding power take-off shaft is located.
8. A method of a microgravity simulation device according to any one of claims 1 to 7, comprising:
under the condition that the geometric center of the floaters is positioned on a straight line where the central axis of the corresponding power output shaft is positioned, controlling the rotation driving mechanism to drive at least one floaters to rotate from an initial position to a preset position;
and if the floating device rotates from the initial position to the preset position, adjusting the physical parameters of the liquid medium until the geometric center of the floating device at the preset position is positioned on the straight line corresponding to the central axis of the power output shaft, and balancing the gravity torque and the friction torque of the floating device at the preset position.
9. The microgravity simulation method of claim 8, wherein if the float is rotated from the initial position to a preset position, a distance between a geometric center of the float and a centroid of the float is greater than 0.
10. The microgravity simulation method of claim 8, wherein controlling the rotation driving mechanism to drive the at least one floater to rotate from the initial position to the preset position comprises:
and controlling the rotation driving mechanism to drive a rotating shaft connected with an output shaft of the motor to rotate, and rotating the two floaters connected with the rotating shaft to a preset position.
CN202310157062.2A 2023-02-13 2023-02-13 Microgravity simulation device and method Pending CN116252976A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310157062.2A CN116252976A (en) 2023-02-13 2023-02-13 Microgravity simulation device and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310157062.2A CN116252976A (en) 2023-02-13 2023-02-13 Microgravity simulation device and method

Publications (1)

Publication Number Publication Date
CN116252976A true CN116252976A (en) 2023-06-13

Family

ID=86683899

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310157062.2A Pending CN116252976A (en) 2023-02-13 2023-02-13 Microgravity simulation device and method

Country Status (1)

Country Link
CN (1) CN116252976A (en)

Similar Documents

Publication Publication Date Title
US10837775B2 (en) Method of using a hybrid power source and control moment gyroscope
US20100307290A1 (en) Apparatus, system and method for gyroscopic propulsion and/or steering
CN116252976A (en) Microgravity simulation device and method
WO2007106761A2 (en) Current tank systems and methods
JP5023330B2 (en) Rotating blade mechanism, power generation device using the rotating blade mechanism, and moving device
WO2011044588A2 (en) Method and apparatus for an inertial drive
GB2207753A (en) Force generating apparatus
Stamat et al. Laboratory-Scale Test Platforms for Femto-Satellite Attitude Control Systems
CN106568543A (en) Ultra-low speed friction micro-vibration disturbance test system
WO2014104938A1 (en) Device for generating electrical energy
US20190002098A1 (en) Aircraft
CN112196749A (en) Moon gravitation power generation
CN215677060U (en) Micro inertial navigation system vehicle-mounted experimental equipment
KR20110104835A (en) Unit for generating propulsive force and apparatus having the same unit
US20230322353A1 (en) Inertia aerostat
CN113029194B (en) CMG assembly testing method, performance evaluation method and testing system
CN218806527U (en) Coaxial aircraft
KR20140103624A (en) Power generating apparatus using waves
US3498146A (en) Gyro erection system
GB2232723A (en) Power unit
JP2021173215A (en) Propulsion device and aircraft with propulsion device
Wessels A Prototype Development for a Quadcopter with a Novel Con iguration
JP2022160051A (en) Vehicular wind power generation device
CN116131727A (en) Floating type photovoltaic power generation, energy storage and gyro stabilization system and control method
Aspden The theory of antigravity

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