CN205905049U - Robot and mechanical arm thereof - Google Patents
Robot and mechanical arm thereof Download PDFInfo
- Publication number
- CN205905049U CN205905049U CN201620498713.XU CN201620498713U CN205905049U CN 205905049 U CN205905049 U CN 205905049U CN 201620498713 U CN201620498713 U CN 201620498713U CN 205905049 U CN205905049 U CN 205905049U
- Authority
- CN
- China
- Prior art keywords
- linking arm
- arm
- chuck
- mechanical arm
- screens projection
- 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
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000000354 decomposition reaction Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 210000001215 vagina Anatomy 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a robot and arm thereof, wherein, the arm includes: a first connecting arm; the second connecting arm is provided with a clamping groove; the driving mechanism is arranged on the first connecting arm and comprises a power output shaft, a chuck and a clamping convex block, the chuck is sleeved on the power output shaft, the clamping convex block is arranged on the chuck and clamped with the clamping groove to connect the second connecting arm with the driving mechanism, the power output shaft drives the chuck and the clamping convex block to rotate, the clamping convex block drives the second connecting arm to rotate relative to the first connecting arm, and one side, far away from the clamping convex block, of the second connecting arm is rotatably connected with the first connecting arm. In the above-mentioned arm, be connected through the mode of block between second linking arm and the actuating mechanism, actuating mechanism can drive the relative first linking arm of second linking arm and rotate, need not to use under the condition of threaded fastener, has realized the quick assembly disassembly of second linking arm with first linking arm, has reduced the structure complexity of arm.
Description
Technical field
This utility model is related to robotics, more particularly to a kind of robot and its mechanical arm.
Background technology
The development of roboticses embodies that artificial intelligence, mechanism and kinematics of machinery and kinetics etc. are all many to grind
Study carefully and level of development, be a complex integrated system.And the mechanical arm design of robot will directly influence its action
Executive capability, embodies the intelligence degree of robot.
At present, the linking arm of robot is connected with drive mechanism by multiple threaded fasteners on the market, due to needing relatively
Many threaded fasteners are realized connecting, and the disassembly process of mechanical arm just becomes relatively complicated, and, mechanical arm offer more
Screwed hole, also directly affects the image appearance of robot.On the market in order to improve the outward appearance of robot, it is usually chosen in machine
The outer sheathed shell of tool arm, to play, to internal structure, the effect of blocking, and then realizes decoration function, reaches the effect of robot attractive in appearance
Really, but this kind of way not only increase mechanical arm dismounting complexity, also increase the weight of mechanical arm simultaneously, make mechanical arm
Moment increases and is susceptible to larger rocking.
Utility model content
Based on this it is necessary to provide a kind of dismounting easily robot and its mechanical arm.
A kind of mechanical arm, comprising:
First linking arm；
Second linking arm, described second linking arm offers draw-in groove；And
Drive mechanism, on described first linking arm, it is convex that described drive mechanism includes power output shaft, chuck and screens
Block, described chuck is sheathed on described power output shaft, described screens projection on described chuck, described screens projection and institute
State draw-in groove to fasten, described second linking arm is connected with described drive mechanism, described power output shaft drives described chuck
And described screens projection rotates, described screens projection drives described second linking arm to rotate relative to described first linking arm, described
Second linking arm is rotatably connected with described first linking arm away from the side of described screens projection.
Wherein in an embodiment, described first linking arm offers and keeps away a breach, described power output shaft wears
Keep away a breach in described, described chuck and described screens projection are located at the outside of described first linking arm.
Wherein in an embodiment, described screens projection is multiple, and multiple described screens projections are located at described power
The axis of rotation of output shaft is on the same circumference in the center of circle.
Wherein in an embodiment, the spacing between any two adjacent described screens projections is equal.
Wherein in an embodiment, the number of described draw-in groove is multiple, and multiple described draw-in grooves are located on same circumference.
Wherein in an embodiment, the number of described draw-in groove is the integral multiple of described screens projection.
Wherein in an embodiment, described second linking arm includes main body and the first connection located at described body end
Portion and second connecting portion, described first connecting portion is oppositely arranged with described second connecting portion, and described draw-in groove is opened in described first
On connecting portion.
Wherein in an embodiment, also include coupling assembly, described coupling assembly includes fixture and rotating disk, described solid
Determining part is column structure, and is fixed on described first linking arm, described rotating disk is sheathed on described fixture, and with described the
Two connecting portion clampings, described second linking arm can be rotated relative to described fixture by described rotating disk.
Wherein in an embodiment, described drive mechanism is steering wheel.
A kind of robot, including above-mentioned mechanical arm.
In above-mentioned mechanical arm, the second linking arm is connected by way of engaging between drive mechanism, and drive mechanism can
Drive chuck and screens projection to rotate, and then drive the second linking arm to rotate relative to the first linking arm, meanwhile, without using spiral shell
In the case that stricture of vagina securing member is attached, the second linking arm and screens projection clamping achieve the second linking arm and the first linking arm
Fast assembling-disassembling, reduce the complex degree of structure of mechanical arm.
Further, the second linking arm arranges multiple draw-in grooves, chuck arranges multiple screens projections, the second linking arm can
To realize the cooperation of draw-in groove and screens projection from multiple angles, and then realize the card of the second linking arm and drive mechanism faster
Connect.
Further, located at the inside of the first linking arm, the first linking arm can play one to drive mechanism to drive mechanism
Fixed blocks protective effect, also makes the outward appearance of mechanical arm more attractive in appearance simultaneously.
Brief description
Fig. 1 is robot architecture's schematic diagram of this utility model one embodiment；
Fig. 2 is the structural representation of mechanical arm shown in Fig. 1；
Fig. 3 is the structural decomposition diagram at a visual angle of mechanical arm shown in Fig. 2；And
Fig. 4 is the structural decomposition diagram at another visual angle of mechanical arm shown in Fig. 2.
Specific embodiment
For the ease of understanding this utility model, below with reference to relevant drawings, this utility model is more fully retouched
State.Better embodiment of the present utility model is given in accompanying drawing.But, this utility model can come in many different forms
Realize however it is not limited to embodiments described herein.On the contrary, providing the purpose of these embodiments to be to make to this practicality newly
It is more thoroughly comprehensive that the disclosure of type understands.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " vertical ", " level ", " left ",
For illustrative purposes only, being not offered as is unique embodiment for " right " and similar statement.
Unless otherwise defined, all of technology used herein and scientific terminology are led with belonging to technology of the present utility model
The implication that the technical staff in domain is generally understood that is identical.In term used in the description of the present utility model it is simply herein
The purpose of description specific embodiment is it is not intended that in limiting this utility model.Term as used herein " and/or " bag
Include the arbitrary and all of combination of the Listed Items of one or more correlations.
As shown in figure 1, the robot 20 of this utility model one embodiment is anthropomorphic robot.Robot 20 includes body 30
And the mechanical arm 10 on body 30.
In conjunction with shown in Fig. 1 and Fig. 2, mechanical arm 10 includes the first linking arm 100, the second linking arm 200, drive mechanism 300.
Wherein, drive mechanism 300 is fixed on the first linking arm 100, drive mechanism 300 can with the second linking arm 200 phase clamping, with
The second linking arm 200 is driven to rotate relative to the first linking arm 100.Specifically, in mechanical arm 10, the first linking arm 100 is humanoid
The upper arm of robot, the second linking arm 200 is the underarm of anthropomorphic robot.In other embodiments, the first linking arm 100 also may be used
Think underarm, and the second linking arm 200 is upper arm.
In conjunction with shown in Fig. 2, Fig. 3 and Fig. 4, specifically, drive mechanism 300 includes power output shaft 310, chuck 320 and card
Position projection 330.Chuck 320 is sheathed on power output shaft 310, and screens projection 330 is on chuck 320.Second linking arm 200
On offer draw-in groove 210.Screens projection 330 can be matched with draw-in groove 210, by the second linking arm 200 and drive mechanism 300 phase
Connect.Power output shaft 310 drives chuck 320 and screens projection 330 to rotate, and screens projection 330 is further driven to the second connection
Arm 200 rotates relative to the first linking arm 100.Second linking arm 200 is away from side and first linking arm 100 of screens projection 330
It is rotatably connected.
Above-mentioned mechanical arm 10 passes through for the screens projection 330 of the second linking arm 200 and drive mechanism 300 to carry out clamping, makes
The dismounting obtaining between the second linking arm 200 and drive mechanism 300 is more convenient, simultaneously the second linking arm 200 and drive mechanism 300
Between without using threaded fastener connect, effectively reduce the structural complexity of mechanical arm 10.
Containing cavity (figure is not marked) is specifically offered on the present embodiment the first linking arm 100.Drive mechanism 300 and first connects
Connect the inwall interference fit of arm 100, drive mechanism 300 is fixed on accommodating intracavity.Close on the side wall of the first linking arm 100
The position of end offers keeps away a breach 110, and power output shaft 310 is arranged in keeps away a breach 110, and chuck 320 is sheathed on power
On output shaft 310 and defeated along axial direction and the power of power output shaft 310 by the screw (figure is not marked) located at chuck 320 middle part
Shaft 310 is threaded.Chuck 320 is located at the outside of the first linking arm 100.When power output shaft 310 rotates, chuck 320
Being capable of concomitant rotation.
By by drive mechanism 300, located at the inside of the first linking arm 100, the first linking arm 100 is to drive mechanism 300
To certain effect of blocking, meanwhile, chuck 320 and screens projection 330 be located at the second linking arm 200 and the first linking arm 100 it
Between, the second linking arm 200 also can play, to chuck 320 and screens projection 330, the effect of blocking, and then avoids due to driving machine
Structure 300 exposes outside and the apparent visual effect of mechanical arm 10 is impacted.In addition, it is necessary to it is noted that in other enforcements
In example, drive mechanism 300 can also be arranged on inside the second linking arm 200, now the first linking arm 100 and screens projection 330
Phase clamping, power output shaft 310 drives the first linking arm 100 to rotate.
Specifically in the present embodiment, chuck 320 is disc-shaped structure.Multiple installing holes (figure is not marked) are opened up on chuck 320,
Multiple mounting hole site are on the same circumference with the axis of rotation of power output shaft 310 as the center of circle.Screens projection 330 is arranged in peace
Fill in the hole portion and prominent chuck 320 is arranged.Screens projection 330 is four, four screens projection 330 collective effects, to drive the
Two linking arms 200 rotate around the axle center that power output shaft 310 is located.
In addition, the spacing between any two adjacent screens projections 330 is equal in four screens projections 330.Due to four
Screens projection 330 is distributed on the circumference at its place, when shackle member 400 drives the second linking arm 200 with 310 turns of power output shaft
When dynamic, the second linking arm 200 is in uniform branch to the active force of screens projection 330, not only extends the use longevity of shackle member 400
Life, and the rotational stabilization of the second linking arm 200 is improved.
It is pointed out that in the present embodiment, screens projection 330 is to be arranged in the screw installing in the hole, and it is prominent
One end of chuck 320 is cylindrical.Therefore, the number at least two of screens projection 330, multiple screens projection 330 phase interworkings
Closing to drive the second linking arm 200 to rotate.In other embodiments, screens projection 330 project chuck 320 one end acceptable
For polymorphic structure, now the number of screens projection 330 can a need one.In other embodiments, screens projection 330 is acceptable
For the multiple projections being fixed on chuck 320.
On second linking arm 200, the number of draw-in groove 210 is eight, and eight draw-in grooves 210 are distributed on same circumference.Its
In, four screens projections 330 can be matched with four in eight draw-in grooves 210.By the number of draw-in groove 210 is set to card
The integral multiple of position projection 330 number so that the second linking arm 200 can to realize draw-in groove 210 from multiple angles convex with screens
The cooperation of block 330, and then the clamping of the second linking arm 200 and shackle member 400 can be realized faster.
It is pointed out that when screens projection 330 is multiple, multiple screens projections 330 can be distributed in defeated with power
The axis of rotation of shaft 310 is the optional position on the same circumference in the center of circle.Now, the draw-in groove 210 on the second linking arm 200
Screens projection 330 can be enable to drive the second linking arm for arbitrary number it is only necessary to multiple screens projections 330 can be housed
200 realize rotating.
In the present embodiment, the second linking arm 200 offers and keep away a groove (figure is not marked).Keeping away a groove can be to connection
The screw of chuck 320 and power output shaft 310 plays keeps away position effect.Multiple draw-in grooves 210 are connected with keeping away a groove.Real at other
Apply in example, draw-in groove 210 with keep away a groove can also interval setting.
In conjunction with shown in Fig. 3 and Fig. 4, specifically in the present embodiment, the second linking arm 200 includes main body 220 and located at main body
First connecting portion 230 and the second connecting portion 240 of 220 ends.First connecting portion 230 is oppositely arranged with second connecting portion 240.Card
Groove 210 is opened in first connecting portion 230, first connecting portion 230 and screens projection 330 clamping, second connecting portion 240 and first
Linking arm 100 is rotatably connected.
Specifically, first connecting portion 230 and second connecting portion 240 along main body 220 axially beyond main body 220 end,
And there are certain intervals between first connecting portion 230 and second connecting portion 240, with when the second linking arm 200 relatively first connection
Position the first linking arm 100 is kept away during arm 100 rotation.
Specifically, pass through coupling assembly 400 realization rotation between second connecting portion 240 and the first linking arm 100 to be connected.Its
In, coupling assembly 400 includes fixture 410 and rotating disk 420.Fixture 410 is column structure, and is fixed on the first linking arm
On 100.Rotating disk 420 is sheathed on fixture 410, and with second connecting portion 240 phase clamping, the second linking arm 200 and rotating disk 420
Can opposed fixed member 410 rotate.
In the present embodiment, the end of fixture 410 is provided with stopper section (figure do not mark), rotating disk 420 be located in stopper section and
Between first linking arm 100, and then prevent from departing from fixture 410 during rotating disk 420 opposed fixed member 410 rotation.In addition, rotating disk
420 are provided with multiple screens salient points 421, and second connecting portion 240 is provided with retaining groove 250, screens salient point 421 and retaining groove
250 match, to realize the clamping of rotating disk 420 and second connecting portion 240.When power output shaft 310 drives first connecting portion 230
Relative to the first linking arm 100 rotate when, second connecting portion 240 can by screens salient point 421 drive rotating disk 420 opposed fixed member
410 rotations.
It is pointed out that in the present embodiment, fixture 410 is cup type bearing.In other embodiments, the second connection
Interface arrangment between portion 240 and the first linking arm 100 can also be realized using the structure of chuck 320 and screens projection 330.
And fixture 410 can also be fixed in drive mechanism 300.Now, fixture 410 is arranged in the first linking arm 100.
It is only necessary to by first connecting portion 230 and screens projection 330 phase clamping in above-mentioned mechanical arm 10, by second connecting portion
240 with screens salient point 421 phase clamping, you can realize the fast of the second linking arm 200 and the first linking arm 100 and drive mechanism 300
Speed is installed.
In addition, in the present embodiment, the second linking arm 200 is thin-wall construction, and it has certain elastic deformation ability.Only
Need to make the second linking arm 200 produce certain elastic deformation, you can make the second linking arm 200 and screens salient point 421 and screens
Projection 330 separates, and realizes the fast quick-detach of the second linking arm 200.And, the weight of the second linking arm 200 is less, and it is with driving machine
Inertia when structure 300 rotates is less, can effectively ensure that the stability of the second linking arm 200 rotation.Meanwhile, the second linking arm
200 only need to relatively low machining accuracy with screens projection 330 and screens salient point 421, you can realize clamping, and have and preferably connect
Connect self-align and connect repeatability.
Specifically in the present embodiment, above-mentioned drive mechanism 300 is specially steering wheel.In other embodiments, drive mechanism 300
It can also be other kinds of actuating unit.
In above-mentioned mechanical arm 10, the second linking arm 200 is connected by way of clamping with drive mechanism 300, drive mechanism
300 can drive chuck 320 and screens projection 330 to rotate, and then drive the second linking arm 200 100 turns of first linking arm relatively
Dynamic.Meanwhile, in the case of being attached without using threaded fastener, the second linking arm 200 is real with screens projection 330 clamping
Show the second linking arm 200 and the fast assembling-disassembling of the first linking arm 100, made the structure of mechanical arm 10 relatively simple.
Further, the second linking arm 200 arranges multiple draw-in grooves 210, chuck 320 arranges multiple screens projections 330,
Second linking arm 200 can realize the cooperation of draw-in groove 210 and screens projection 330 from multiple angles, and then realizes second faster
Linking arm 200 and the clamping of drive mechanism 300.
Further, located at the inside of the first linking arm 100, the first linking arm 100 can be to driving machine for drive mechanism 300
Structure 300 plays certain protective effect of blocking, and also makes the outward appearance of mechanical arm 10 more attractive in appearance simultaneously.
Each technical characteristic of embodiment described above can arbitrarily be combined, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic applied in example is all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope of this specification record.
Embodiment described above only have expressed several embodiments of the present utility model, and its description is more concrete and detailed,
But therefore can not be interpreted as the restriction to utility model patent scope.It should be pointed out that the common skill for this area
For art personnel, without departing from the concept of the premise utility, some deformation can also be made and improve, these broadly fall into
Protection domain of the present utility model.Therefore, the protection domain of this utility model patent should be defined by claims.
Claims (10)
1. a kind of mechanical arm is it is characterised in that include:
First linking arm；
Second linking arm, described second linking arm offers draw-in groove；And
Drive mechanism, on described first linking arm, described drive mechanism includes power output shaft, chuck and screens projection,
Described chuck is sheathed on described power output shaft, described screens projection on described chuck, described screens projection with described
Draw-in groove fastens, and described second linking arm is connected with described drive mechanism, described power output shaft drive described chuck and
Described screens projection rotates, and described screens projection drives described second linking arm to rotate relative to described first linking arm, and described the
Two linking arms are rotatably connected with described first linking arm away from the side of described screens projection.
2. mechanical arm according to claim 1 keeps away a breach it is characterised in that offering on described first linking arm, institute
State power output shaft be arranged in described in keep away a breach, described chuck and described screens projection are outer located at described first linking arm
Side.
3., it is characterised in that described screens projection is multiple, multiple described screens are convex for mechanical arm according to claim 1
Block is located on the same circumference with the axis of rotation of described power output shaft as the center of circle.
4. mechanical arm according to claim 3 is it is characterised in that spacing between any two adjacent described screens projections
Equal.
5. mechanical arm according to claim 1 is it is characterised in that the number of described draw-in groove is multiple, multiple described draw-in grooves
On same circumference.
6. mechanical arm according to claim 5 is it is characterised in that the number of described draw-in groove is the integer of described screens projection
Times.
7. mechanical arm according to claim 1 is it is characterised in that described second linking arm includes main body and located at described master
The first connecting portion in body end portion and second connecting portion, described first connecting portion is oppositely arranged with described second connecting portion, described card
Groove is opened in described first connecting portion.
8. it is characterised in that also including coupling assembly, described coupling assembly includes solid mechanical arm according to claim 7
Determine part and rotating disk, described fixture is column structure, and is fixed on described first linking arm, and described rotating disk is sheathed on described solid
Determine on part, and with described second connecting portion clamping, described second linking arm can relatively described fixture be turned by described rotating disk
Dynamic.
9. mechanical arm according to claim 1 is it is characterised in that described drive mechanism is steering wheel.
10. a kind of robot is it is characterised in that include the mechanical arm described in claim 1 to 9 any one claim.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620498713.XU CN205905049U (en) | 2016-05-26 | 2016-05-26 | Robot and mechanical arm thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620498713.XU CN205905049U (en) | 2016-05-26 | 2016-05-26 | Robot and mechanical arm thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205905049U true CN205905049U (en) | 2017-01-25 |
Family
ID=57814924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620498713.XU Active CN205905049U (en) | 2016-05-26 | 2016-05-26 | Robot and mechanical arm thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205905049U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625615A (en) * | 2017-03-02 | 2017-05-10 | 上海未来伙伴机器人有限公司 | Bone part and robot |
-
2016
- 2016-05-26 CN CN201620498713.XU patent/CN205905049U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625615A (en) * | 2017-03-02 | 2017-05-10 | 上海未来伙伴机器人有限公司 | Bone part and robot |
| CN106625615B (en) * | 2017-03-02 | 2024-02-27 | 上海未来伙伴机器人有限公司 | Skeleton spare and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207171658U (en) | Pneumatic indexing rotary table mechanism | |
| CN101616617B (en) | Cosmetic applicator with torque limiter | |
| CN101616616A (en) | Cosmetic applicator with torque limiter | |
| CN108189073A (en) | A kind of Dual-motors Driving modularized joint and a kind of mechanical arm | |
| BR102017027737B1 (en) | FUNCTIONAL DEVICE, IN PARTICULAR A ROBOT, FOR EDUCATIONAL USE WITH MODULES THAT CAN BE COMBINED TOGETHER | |
| US20170297179A1 (en) | Rotatable fastening device and application method thereof | |
| CN206588875U (en) | rotary fastening device | |
| US6607461B2 (en) | Electrically driven actuator | |
| TWI619893B (en) | Fixed locking method for locking driven member to harmonic gear unit and harmonic gear unit | |
| CN205905049U (en) | Robot and mechanical arm thereof | |
| CN105451943B (en) | Moment of torsion transmission power tool with flywheel | |
| CN107719627A (en) | Flight instruments | |
| CN207710794U (en) | A kind of steering engine component and anthropomorphic robot | |
| CN207539094U (en) | Adjustable diffuser and centrifugal compressor | |
| CN205852701U (en) | Torsion output instrument | |
| CN106584503A (en) | Robot head and shoulder rotation multiplexing structure | |
| CN207231690U (en) | A kind of locking proficiency test frock for flange bolt | |
| CN206105873U (en) | Head rotational system in robot | |
| CN206691321U (en) | Unmanned boat and its sampling mechanism | |
| CN102374272B (en) | Magnetic gear | |
| CN204300242U (en) | A kind of RV retarder | |
| CN202727870U (en) | Biaxial linked integrated middle shaft for bicycle | |
| CN206598289U (en) | The power module and robot of single transport axle | |
| CN208367290U (en) | A kind of optical adjusting frame | |
| CN109334808B (en) | Wheeled-foot robot and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |