CN119897502B - Robot miniature motor end cover punching equipment and use method - Google Patents
Robot miniature motor end cover punching equipment and use methodInfo
- Publication number
- CN119897502B CN119897502B CN202510409808.3A CN202510409808A CN119897502B CN 119897502 B CN119897502 B CN 119897502B CN 202510409808 A CN202510409808 A CN 202510409808A CN 119897502 B CN119897502 B CN 119897502B
- Authority
- CN
- China
- Prior art keywords
- end cover
- ring
- block
- along
- groove
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B35/00—Methods for boring or drilling, or for working essentially requiring the use of boring or drilling machines; Use of auxiliary equipment in connection with such methods
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
Abstract
The invention relates to the technical field of end cover punching, in particular to robot miniature motor end cover punching equipment and a using method thereof, comprising a base, and the upper side of base is provided with the drilling machine, and the inside fixedly connected with ring seat of base, and the middle part of ring seat is provided with the interior support that bears the weight of the end cover. According to the robot miniature motor end cover punching equipment and the use method, the clamping blocks are extruded along the inclined openings through the end cover to retract into the sliding grooves until the end cover falls on the inner support, at the moment, the clamping blocks are reset and pop out of the upper side of the end cover, the upper and lower movement of the end cover is limited by matching with the inner support, and when the clamping blocks pop out, clamping plates at the bottoms of the clamping blocks synchronously abut against the side edges of the end cover to limit the translation of the end cover.
Description
Technical Field
The invention relates to the technical field of end cover punching, in particular to robot miniature motor end cover punching equipment and a using method thereof.
Background
Modern robots require a large number of micro-motors. For example, micro brushless motors have been used as "precision joints" for robots, with penetration rates in cooperative robot joint modules exceeding 65% . The latest full-electric Atlas robot with Boston power adopts an electric driving scheme to replace a hydraulic system, and the advantages of the miniature motor in improving flexibility and commercialization potential are verified. And the dexterous hand is the key of the generalization capability of the humanoid robot, and high-precision operation is needed to be realized through a miniature motor.
The motor end cover is a protection and positioning assembly arranged at two ends of the motor shell, and maintains the accurate position relation between the stator and the rotor by connecting the rotor and the machine base, and simultaneously protects the inside of the motor from external environment . Typical structures include spigot , bearing mounting holes, heat dissipating holes, etc. that mate with the housing.
The motor end cap perforation locations, in addition to being used for mounting holes, generally include bearing housing perimeter, spigot machining area, and attachment mounting locations .
The prior patent (bulletin number: CN 116532682B) discloses a punching device for a miniature motor end cover, which comprises a fixing mechanism, wherein the fixing mechanism comprises a clamping assembly fixedly connected to the inner wall of a base, the inner wall of the base is fixedly connected with four first cylinders, the outer walls of the cylinders are slidably connected with a second connecting plate, two sides of one end of the second connecting plate, which is far away from the inner wall of the base, are respectively fixedly connected with a first spring, the top end of the second connecting plate is provided with a sliding groove, the center of one end of the second connecting plate, which is far away from the inner wall of the base, is fixedly connected with a first clamping head, the inner wall of the sliding groove is slidably connected with a third sliding rod, the outer wall of the third sliding rod is slidably connected with a first rail, and the second connecting rod is driven to move through a rotary ring, so that the second clamping head is centered and the fixed position of a motor cover is in the middle.
Above-mentioned end cover fixed knot of prior art needle constructs needs the manual work to open, the operation of closure, and the operation convenience is poor, and still needs the manual work to adjust the end cover to unified fixed position before punching, just can guarantee the effect of punching.
In view of this, we propose a robotic micro-motor end cap punching apparatus and method of use.
Disclosure of Invention
The invention aims to provide a punching device for an end cover of a miniature motor of a robot and a use method thereof, which are used for solving the problems that in the prior art, the end cover fixing structure of a needle in the prior art needs to be manually opened and closed, the operation convenience is poor, and the end cover needs to be manually adjusted to a uniform fixing position before punching, so that the punching effect can be ensured. In order to achieve the purpose, the technical scheme is that the robot miniature motor end cover punching equipment comprises a base, wherein a drilling machine is arranged on the upper side of the base, a ring seat is fixedly connected to the inside of the base, an inner support for bearing an end cover is arranged in the middle of the ring seat, a plurality of sliding grooves are formed in the inner ring of the ring seat, a clamping block is connected in the sliding grooves in a sliding mode, a spring is arranged in the sliding grooves and pushes the clamping block to slide outwards along the sliding grooves, an inclined opening is formed in the top of the clamping block, a clamping plate is fixedly connected to the bottom of the clamping block, and a pressing pin is fixedly connected to the bottom of the clamping plate.
The inner bottom wall of the base is provided with a ring groove, the ring groove is rotationally connected with a ring frame, the top of the ring frame is provided with helical teeth of an annular array matched with the press pin, and the ring frame is fixedly provided with a plurality of magnetic blocks matched with the end cover.
Preferably, a clamping groove matched with the end cover is formed in the side surface of the clamping plate.
Preferably, the bevel connection department fixedly connected with shell fragment, and offered the through-hole that link up cardboard and draw-in groove intercommunication on the bevel connection, sliding connection has the bolt in the through-hole, and the top and the shell fragment fixed connection of bolt.
The first bevel edge of the clamping end cover is cut on one side of the bottom end of the bolt, which is opposite to the opening of the clamping groove, and the second bevel edge of the releasing end cover is cut on one end of the bottom end of the bolt, which is opposite to the sliding groove.
Preferably, the top of base is fixed and is provided with the top cap of semicircle structure, and the inboard rotation of top cap is provided with two lead screws by motor control, two be the swing joint of upper and lower direction on the lead screw has the ring rail, and the inboard rotation of ring rail is provided with by motor control's spiral frame, and sliding connection has by motor control's slide on the spiral frame, drilling machine fixed mounting is on the slide.
Preferably, a plurality of positioning magnetic seats matched with the magnetic blocks are fixedly arranged in the base.
Preferably, the top of the ring seat is rotationally connected with a control ring, the surface of the control ring is provided with a chute corresponding to the clamping block, the top of the ring seat is provided with a through groove communicated with the chute, the top of the clamping block is fixedly connected with a connecting rod, and the connecting rod penetrates through the through groove and extends into the chute.
Preferably, the top of the inner support is provided with a plurality of balls matched with the end cover in a rolling manner.
The application method of the robot miniature motor end cover punching equipment comprises the following steps:
S1, placing an end cover to be processed of a robot micro motor into a ring seat for pressing down, extruding a clamping block along a bevel opening by the end cover to retract into a chute until the end cover falls on an inner support, resetting the clamping block to pop up the upper side of the end cover, and matching the clamping block with the inner support to limit the up-down movement of the end cover, wherein when the clamping block pops up, a clamping plate at the bottom of the clamping block synchronously butts against the side edge of the end cover to limit the translation of the end cover;
S2, after the end cover is finished, the sliding seat moves along the rotating frame to drive the drilling machine to translate, the punching position is adjusted, before translation, the rotating frame adjusts the punching range along the translation direction of the ring rail, and then the ring rail and the drilling machine are driven to move up and down by the rotation of the screw rod so as to punch holes;
s3, when the clamping block is pressed by the supporting block to rebound, the pressing pin synchronously moves and pushes the ring frame to rotate along the helical teeth, and in the process, the magnetic blocks on the ring frame apply magnetic traction along the connecting block of the outer ring of the end cover, so that the end cover rotates along the inner support until the connecting block is transversely inserted into the clamping groove;
S4, when the connecting block of the end cover enters the clamping groove, the connecting block jacks up the bolt along the first oblique edge, so that the bolt is inserted into a hole on the surface of the connecting block, the end cover cannot rotate along the clamping groove at the moment, after punching is completed, the control ring is used for controlling the clamping block to retract into the sliding groove, and the bolt is jacked up along the second oblique edge, so that the clamping plate and the connecting block are unlocked.
Compared with the prior art, the invention has the beneficial effects that:
According to the invention, the clamping blocks are extruded along the inclined openings through the end covers to retract into the sliding grooves until the end covers fall on the inner support, at the moment, the clamping blocks are reset and ejected out of the upper side of the end covers to be matched with the inner support to limit the up-down movement of the end covers, and when the clamping blocks are ejected out, clamping plates at the bottoms of the clamping blocks synchronously abut against the side edges of the end covers to limit the translation of the end covers.
According to the invention, the ring frame is pushed to rotate along the helical teeth through the pressing pin, in the process, the magnetic blocks on the ring frame apply magnetic traction along the connecting blocks of the outer ring of the end cover, so that the end cover rotates along the inner support until the connecting blocks are transversely inserted into the clamping grooves, in the process of fixing the end cover, the position of the end cover is automatically adjusted by utilizing the movement of the clamping blocks, the uniform punching effect can be ensured without manual adjustment after the end cover is installed, the manual assistance is reduced, and the punching efficiency is improved.
According to the invention, the bolt is jacked up along the first oblique side through the connecting block, so that the bolt is inserted into a hole on the surface of the connecting block, at the moment, the end cover cannot rotate along the clamping groove, after punching is completed, when the control ring is used for controlling the clamping block to retract into the sliding groove, the bolt is jacked up along the second oblique side, so that the clamping plate is unlocked with the connecting block, the double functions of locking and quick unlocking of the end cover are realized by the bolt, and the end cover is not more complicated to assemble and disassemble under the condition of increasing functions.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is an enlarged view of the invention at A in FIG. 1;
FIG. 3 is a schematic view of the structure of the end cap, ring seat and inner support of the present invention;
FIG. 4 is an exploded view of the ring seat, cartridge and control ring of the present invention;
FIG. 5 is a schematic view of the latch and spring of the present invention;
FIG. 6 is a perspective cross-sectional view of the ring seat of the present invention;
FIG. 7 is an enlarged view of the invention at B in FIG. 6;
FIG. 8 is a schematic perspective view of a latch according to the present invention;
fig. 9 is a schematic perspective view of a latch according to the present invention.
The device comprises a base, a drilling machine, a ring seat, a 4, an inner support, a 5, a sliding groove, a 6, a clamping block, a 7, a spring, a 8, a bevel connection, a 9, a clamping plate, a 10, a pressing pin, a 11, a ring groove, a 12, a ring frame, a 13, bevel teeth, a 14, a magnet, a 15, a clamping groove, a 16, a spring plate, a 17, a through hole, a 18, a bolt, a19, a first bevel edge, a 20, a second bevel edge, a 21, a top cover, a 22, a screw rod, a 23, a ring rail, a 24, a rotating frame, a 25, a sliding seat, a 26, a positioning magnet seat, a 27, a control ring, a 28, a chute, a 29, a through groove, a 30 and a connecting rod.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which are obtained by a worker of ordinary skill in the art without creative efforts, are within the protection scope of the present invention based on the embodiments of the present invention.
Referring to fig. 1 to 9, the invention provides a technical scheme that the punching device for the end cover of the robot micro motor comprises a base 1, wherein a drilling machine 2 is arranged on the upper side of the base 1, a ring seat 3 is fixedly connected to the inside of the base 1, an inner support 4 for bearing the end cover is arranged in the middle of the ring seat 3, a plurality of sliding grooves 5 are formed in the inner ring of the ring seat 3, a clamping block 6 is connected in a sliding manner in the sliding groove 5, a spring 7 is arranged in the sliding groove 5, the clamping block 6 is pushed by the spring 7 to slide outwards along the sliding groove 5, a bevel 8 is formed in the top of the clamping block 6, a clamping plate 9 is fixedly connected to the bottom of the clamping block 6, the end cover to be processed of the robot micro motor is put into the ring seat 3 to be pressed downwards, the end cover is pressed into the sliding groove 5 along the bevel 8 until the end cover falls on the inner support 4, the clamping block 6 is reset to be ejected out of the upper side of the end cover at the moment, when the clamping block 6 is matched with the inner support 4 to limit the upward and downward movement of the end cover, the clamping plate 9 is synchronously pressed against the side of the end cover to limit the sliding groove 6, so that translation of the end cover is limited, when the clamping block 6 is ejected out, the clamping block 10 is fixedly connected with the bottom of the clamping block 6 along the sliding groove 5, and the clamping block 10 is synchronously pressed into the sliding groove 10, and the clamping groove 10 is matched with the sliding groove when the clamping block 5 is pressed into the sliding groove;
The ring groove 11 is formed in the inner bottom wall of the base 1, the ring groove 11 is rotationally connected with the ring frame 12, the top of the ring frame 12 is provided with the helical teeth 13 which are matched with the pressing pin 10 and are in annular array, the ring frame 12 is fixedly provided with a plurality of magnetic blocks 14 which are matched with the end cover, when the pressing pin 10 moves, the ring frame 12 is pushed to rotate along the helical teeth 13, in the process, the magnetic blocks 14 on the ring frame 12 apply magnetic traction along the connecting blocks of the outer ring of the end cover, so that the end cover rotates along the inner support 4, in another embodiment, the magnetic blocks 14 are replaced by plastic rods, the plastic rods are pushed against the aluminum alloy type end cover, and after the connecting blocks of the outer ring of the end cover are aligned, the plastic rods can be pressed and bent, and the rotation of the ring frame 12 cannot be stopped.
In this embodiment, as shown in fig. 1, 2,3, 4, and 5 to 9, a clamping groove 15 is formed on the side surface of the clamping plate 9, which is matched with an end cover, and the end cover rotates along the inner support 4 until the connecting block is transversely inserted into the clamping groove 15.
In this embodiment, as shown in fig. 1,2, 3, 4, and 5 to 9, the spring plate 16 is fixedly connected to the bevel 8, a through hole 17 is formed in the bevel 8, which penetrates through the card 9 and communicates with the card slot 15, a plug 18 is slidably connected in the through hole 17, and the top end of the plug 18 is fixedly connected with the spring plate 16;
The first hypotenuse 19 of joint end cover is cut to the relative draw-in groove 15 open side in bolt 18 bottom, and the relative one end of spout 5 in bolt 18 bottom cuts there is the second hypotenuse 20 of release end cover, when the connecting block of end cover gets into draw-in groove 15, the connecting block jack-up bolt 18 along first hypotenuse 19 for in the hole on connecting block surface is inserted to bolt 18, the end cover can't rotate along draw-in groove 15 this moment, after punching is accomplished, when utilizing control ring 27 control fixture block 6 shrink spout 5, bolt 18 then is jack-up along second hypotenuse 20, make the unblock between cardboard 9 and the connecting block.
In this embodiment, as shown in fig. 1, 2, 3, 4, and 5 to 9, a top cover 21 with a semicircular structure is fixedly disposed at the top of the base 1, two screws 22 controlled by a motor are rotatably disposed at the inner side of the top cover 21, ring rails 23 are movably connected to the two screws 22 in the up-down direction, a rotating frame 24 controlled by a motor is rotatably disposed at the inner side of the ring rails 23, a sliding seat 25 controlled by a motor is slidably connected to the rotating frame 24, the drilling machine 2 is fixedly mounted on the sliding seat 25, the ring rails 23 and the drilling machine 2 are driven to move up and down to perform drilling when the screws 22 rotate, the sliding seat 25 moves along the rotating frame 24 to drive the drilling machine 2 to translate to adjust the drilling position, and the rotating frame 24 adjusts in the translational direction along the ring rails 23 before translation to improve the drilling range.
In this embodiment, as shown in fig. 1,2, 3,4, and 5 to 9, a plurality of positioning magnetic seats 26 matched with the magnetic blocks 14 are fixedly disposed in the base 1, and after the rotating ring frame 12 drives the end cover to align by using the magnetic blocks 14, the magnetic blocks 14 on the ring frame 12 that gradually decelerate are captured by the positioning magnetic seats 26, so that the helical teeth 13 are always located at a preset position capable of being matched with the press pins 10.
In this embodiment, as shown in fig. 1,2, 3, 4 and 5 to 9, the top of the ring seat 3 is rotatably connected with a control ring 27, a chute 28 corresponding to the clamping block 6 is provided on the surface of the control ring 27, a through groove 29 communicated with the chute 5 is provided on the top of the ring seat 3, a connecting rod 30 is fixedly connected to the top of the clamping block 6, the connecting rod 30 extends into the chute 28 through the through groove 29, the control ring 27 is rotated, and the circular movement chute 28 can be utilized to push the clamping block 6 to retract into the chute 5 along the connecting rod 30, so as to control unlocking of the end cover by all the clamping blocks 6.
In this embodiment, as shown in fig. 1,2, 3, 4, and 5 to 9, a plurality of balls matched with the end cover are disposed on the top of the inner support 4 in a rolling manner, and when the end cover rotates along the inner support 4, friction between the balls can be reduced by the balls, so that running smoothness is improved.
The application method of the robot miniature motor end cover punching equipment comprises the following steps:
S1, an end cover to be processed of a robot micro motor is placed in a ring seat 3 to be pressed down, an end cover extrudes a clamping block 6 along a bevel 8 to retract into a sliding groove 5 until the end cover falls on an inner support 4, at the moment, the clamping block 6 is reset to pop up and clamped on the upper side of the end cover, the clamping block is matched with the inner support 4 to limit the up-down movement of the end cover, and when the clamping block 6 pops up, a clamping plate 9 at the bottom of the clamping block synchronously props against the side edge of the end cover to limit the translation of the end cover;
s2, after the end cover is finished, the sliding seat 25 moves along the rotating frame 24 to drive the drilling machine 2 to translate, the punching position is adjusted, before translation, the rotating frame 24 adjusts the translation direction along the annular rail 23, the punching range is adjusted, and then the screw rod 22 is utilized to rotate to drive the annular rail 23 and the drilling machine 2 to move up and down so as to punch holes;
S3, when the clamping block 6 is pressed to rebound, the pressing pin 10 synchronously moves and pushes the ring frame 12 to rotate along the helical teeth 13, and in the process, the magnetic blocks 14 on the ring frame 12 apply magnetic traction along the connecting blocks of the outer ring of the end cover, so that the end cover rotates along the inner support 4 until the connecting blocks are transversely inserted into the clamping grooves 15;
S4, when the connecting block of the end cover enters the clamping groove 15, the connecting block jacks up the plug pin 18 along the first oblique side 19, so that the plug pin 18 is inserted into a hole on the surface of the connecting block, the end cover cannot rotate along the clamping groove 15 at the moment, after punching is finished, when the control ring 27 is used for controlling the clamping block 6 to retract into the sliding groove 5, the plug pin 18 is jacked up along the second oblique side 20, and the clamping plate 9 and the connecting block are unlocked.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510409808.3A CN119897502B (en) | 2025-04-02 | 2025-04-02 | Robot miniature motor end cover punching equipment and use method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510409808.3A CN119897502B (en) | 2025-04-02 | 2025-04-02 | Robot miniature motor end cover punching equipment and use method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN119897502A CN119897502A (en) | 2025-04-29 |
| CN119897502B true CN119897502B (en) | 2025-08-08 |
Family
ID=95465347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202510409808.3A Active CN119897502B (en) | 2025-04-02 | 2025-04-02 | Robot miniature motor end cover punching equipment and use method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN119897502B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211218809U (en) * | 2019-12-28 | 2020-08-11 | 常州市一鑫电气有限公司 | Micro motor end cover perforating device |
| CN116532682A (en) * | 2023-04-11 | 2023-08-04 | 海口市城常电子科技有限公司 | Miniature motor end cover perforating device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2012100693A4 (en) * | 2012-05-18 | 2012-08-30 | Hengdian Group Linix Motor Co,.Ltd | Motor Shell End Cover Positioning Structure |
| CN110193862B (en) * | 2019-05-09 | 2021-03-26 | 浙江展邦电子科技有限公司 | Multilayer high-density multilayer buried hole printed board buried hole processing device and method |
| CN112123135B9 (en) * | 2020-08-17 | 2022-08-12 | 南京智欧智能技术研究院有限公司 | Double-sided automatic polishing device and polishing method thereof |
-
2025
- 2025-04-02 CN CN202510409808.3A patent/CN119897502B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211218809U (en) * | 2019-12-28 | 2020-08-11 | 常州市一鑫电气有限公司 | Micro motor end cover perforating device |
| CN116532682A (en) * | 2023-04-11 | 2023-08-04 | 海口市城常电子科技有限公司 | Miniature motor end cover perforating device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN119897502A (en) | 2025-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110756851B (en) | Auto-parts brake disc makes automatic processing equipment | |
| CN218776069U (en) | Punching and polishing equipment for electronic device | |
| CN119897502B (en) | Robot miniature motor end cover punching equipment and use method | |
| CN109317721B (en) | A side drilling device for a construction hoist transmission frame | |
| CN119260036B (en) | Drilling device for door and window production | |
| CN117139686B (en) | Drilling device for sighting telescope processing | |
| CN108889984B (en) | Ring die hole repairing device | |
| CN119319271A (en) | Drilling machine for hardware die machining | |
| CN219853393U (en) | Clutch plate processing equipment | |
| CN217224669U (en) | Transmission belt processing machine | |
| CN216177218U (en) | Double-station machine tool | |
| CN216151107U (en) | Positioning fixture of motor shaft turning equipment | |
| CN221064516U (en) | Perforating device for processing brake disc cooling holes | |
| CN218695856U (en) | Automatic assembling and overturning workbench for stamping die | |
| CN217802172U (en) | Miniature woodworking multipurpose square hole machine | |
| CN222344255U (en) | Drilling equipment is used in magnesium alloy production | |
| CN219649390U (en) | Auxiliary processing indexing machine | |
| CN221984512U (en) | A steel plate drilling fixture | |
| CN218517753U (en) | Drilling equipment is used in door and window processing | |
| CN216575140U (en) | Numerical control turret tool rest | |
| CN221088157U (en) | Right-angle plate machining and positioning tool | |
| CN223492111U (en) | A screw center hole drilling device | |
| CN215509084U (en) | Starter drives lid side hole processingequipment | |
| CN219818918U (en) | Positioning tool for processing half shaft flange of drive axle | |
| CN119159381B (en) | Vertical punching and slotting composite processing device for disc sleeve parts |
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 |